TRANSPORTATION AND INSTALLATION MANUAL
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c) Setting of PAYLOAD command
In the default state, or when the PAYLOAD command is not used, the maximum
speed and acceleration/deceleration are set to 100 % and the servo gain is set to
the value under the minimum load. (See Para. 8.3.3.)
!
CAUTION
• Be sure to use the PAYLOAD command.
• Unless the PAYLOAD command is used, the robot will vibrate or overshoot,
resulting in malfunction or shortening of the life of the mechanisms. In the
worst case, the mechanism will be damaged.
• Even when the PAYLOAD command is used, regulate the speed by using the
SPEED or DECEL command while confirming the workpiece behavior
subject to handling.
!
CAUTION
• The load moment of inertia should be within the tolerances given in Table
10.1.
• A large inertia moment may cause the robot to vibrate even through the
load's center of gravity is not offset. In this case, arbitrarily specify the
following:
PAYLOAD= {M, Gx, Gy, Gz}
!
CAUTION
• A large load mass or center-of-gravity offset may cause the robot to rotate
when it is manually guided. This is because the servo gain is not
appropriate.
In this case, set M, Gx, Gy, Gz with [UTILITY] PAYLOAD in accordance with
the load requirements.
The current servo gain is changed to the value matched to the load
requirements.
