STE80753
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TRANSPORTATION AND INSTALLATION MANUAL
DELAY
1
PAYLOAD={3,30}
MOVE
P2+POINT(0,0,100)
GOTO
LOOP
FIN:
MOVE
P0
DOUT(1)
STOP
END
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. 5.3.3.)
!
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
5.1.
• Even if there is no offset of load gravity center, if the moment of inertia is
large, the robot may vibrate. When this happens, figure out the virtual
gravity center offset (L mm) from the following equation, using the moment of
inertia (J kg·m
2
) and mass (M kg).
L
=
(J
×
10
6
/ M)
Then, designate the following command.
PAYLOAD = {M, L}
