Toshiba TH180, Инструкция по эксплуатации

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STE 73995
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TRANSPORTATION AND INSTALLATION MANUAL
d) TH350A
‐
T
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. 4.17. The
vertical line shows the acceleration. If the load mass is 3 kg, for instance, the
acceleration of axes 1, 2 and 4 is 70 %.
100 100
85
70
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
Fig. 4.17 Setting of acceleration for load mass (TH350A
‐
T)
Additionally, if there is a gravity center offset of load, the acceleration changes as
shown in Fig. 4.18.
If the load mass is 3 kg and gravity center offset is 70 mm, for instance, the
acceleration of axes 1, 2 and 4 is 21 % (= 70 %
×
30 %).