Mitsubishi Electric CR800 Series, Special Specifications Manual, Page: 35 / 156

２ Robot arm
2-22
2.2.5 Vibration of shaft (J3 axis) position and arm end
Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the
low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem
occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes
long. When this vibration affects the robot's operations, please change operating speed etc. like the above
Page
21, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot" .
(1) Relationship Between Mass Capacity and Speed
A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be
activated (Refer to
Fig. 2-7 ).
However, this function does not work with the following load mass setting value or smaller.
When the load mass is set to a value greater than the above setting, the maximum speed is compensated accord
-
ing to the load mass.
[CAUTION] Depending on the operation pattern, the speed and/or acceleration/deceleration at the front edge
may not be parallel with the speed and the rate of change of acceleration/deceleration specified in a
program.
Fig.2-7 ： Automatic compensation of speed
(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-8 ,
Fig. 2-9 ) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-8 .
Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-8 if the position of the center of
gravity of the load is located at the front edge of the shaft.
Fig.2-8 ： Area in which acceleration/deceleration speed is compensated
Model Load mass setting
RH-1FRHR 1kg
100
60
0
0
1
最大
速
度
割合
負荷質量（ｋｇ）
3
(%)
RH-1FRHR series
Maximum speed ratio (%)
Load capacity (kg)
P3
→
→
シャフト(J3軸)
速度、加減速度を
補正しない領域
速度、加減速度を
補正する領域
P1
P2
Shaft (J3 axis)
Area in which speed and
acceleration/deceleration
speed are not compensated
Area in which speed and
acceleration/deceleration
speed are compensated