Mitsubishi Electric CR1DA-7A1-S15, Standard Specifications Manual

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２ Robot arm
2-8
2.2.2 Rated load (mass capacity)
(1) The acceleration/deceleration must be set appropriately in the program according to the loaded load mass.
The relation of the optimum acceleration/deceleration in respect to the mass capacity is shown with a
percentage in
Fig. 2-1 .
Fig.2-1 ： Relation of mass capacity and optimum acceleration/deceleration percentage
Make sure that the acceleration/deceleration percentage satisfies the values in the shaded section shown in
Fig. 2-1 . The acceleration/deceleration percentage is set with the ACCEL command in the program. If the per
-
centage is not set in the program, the default value 100% will be set as the acceleration/deceleration percentage.
An example of setting in the program is shown below.
Example) When the loaded load mass is 1kg, the appropriate acceleration/deceleration percentage will be 50%,
as shown in Fig. 2-1 . Thus, the acceleration/deceleration percentage is set as 50 in the program.
【Program example】
1 Accel 50, 50
’
2 Mov P1 ’Write the target work program after this.
：
Details on the Accel command are given in section "4.14 Explanation of command words" in the separate man
-
ual "Detailed explanations of functions and operations".
When using the optimum acceleration/deceleration function (when using the Oadl command), the optimum
acceleration/deceleration percentage will be set automatically according to the load state, so setting with the
Accel command is not required.
0.5
50%
100%
1.0
Ma
ss capaci
ty
Acceleration/deceleration percentage
(kg)
1.0
3.0
(kg)
(b)RP-3AH/3AHC-SB
2.0
50%
100%
5.0
(kg)
(c)RP-5AH/5AHC-SB
Ma
ss capaci
ty
Acceleration/deceleration percentage
(a)RP-1AH/1AHC-SB
Ma
ss c
apa
city
Acceleration/deceleration percentage
50%
100%
Note) For the RP-1ADH, the acceleration/deceleration
percentage 100% is the acceleration/deceleration
in respect to the min. acceleration/deceleration
time 0.025 sec.
(a) RP-1ADH (b) RP-3ADH
(c) RP-5ADH