Toshiba TH180, Instruction Manual, Page: 70 / 80

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TRANSPORTATION AND INSTALLATION MANUAL
c) TH180
Acceleration of the robot is automatically changed according to the load conditions
when the PAYLOAD command is used.
The acceleration changes with the load mass, as shown in Fig. 4.15. The
vertical line shows the acceleration. If the load mass is 2 kg, for instance, the
acceleration of axes 1 and 2 is 79 %.
83
79
100 100
100
91
0
25
50
75
100
125
0 1 1.5 2
Load mass [kg]
Acceleration [%]
Axes 1,2 Axis 3 Axis 4
Fig. 4.15 Setting of acceleration for load mass (TH180)
Additionally, if there is a gravity center offset of load, the acceleration changes as
shown in Fig. 4.16.
If the load mass is 2 kg and gravity center offset is 50 mm, for instance, the
acceleration is 31 % (= 79 %
×
40 %).