Toshiba TH180, Инструкция по эксплуатации

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STE 73995
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TRANSPORTATION AND INSTALLATION MANUAL
4.3.3 Setting Robot Acceleration and Maximum Speed for Load Conditions
a) TH250A
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. 4.9. The vertical
line shows the acceleration. If the load mass is 3 kg, for instance, the
acceleration of axes 1, 2, and 4 is 66 % of the maximum value.
100 100
82
66
100 100 100 100
0
20
40
60
80
100
120
0 1 2 3
Load mass [kg]
Acceleration [%]
Axes 1, 2, 4 Axis 3
0 Time
Motion speed
Acceleration 100% Acceleration 50%
Fig. 4.9 Setting of acceleration for load
mass (TH250A)
Fig. 4.10 Acceleration changes
Additionally, if there is a gravity center offset of load, the acceleration and
maximum speed change as shown in Fig. 4.11 and Fig. 4.12, respectively. If the
load mass is 3 kg and gravity center offset is 70 mm, for instance, the acceleration
of axes 1 and 2 is 22 % (= 66 %
×
34 %) and the maximum speed of axes 1, 2
and 4 is 100 %.
T
2T
T: Acceleration time