49
Joint
Joint(unit: rad)
Joint(unit: degree)
1
2
3
4
5
6
9.3.3. Joint Operating Speed
Joint Speed: refers to the rotating degree per second, the range is 1°/s ~ 180°/s. When the
robotic arm is in operation, the maximum speed will be influenced by the payload, speed
and the pose, and the maximum speed would not be an absolute value.
Acceleration: the start-stop time can be adjusted, so as the jitter during the start-stop. The
range is recommended to be within 20 times the maximum operating speed [20*180°/s].
Note: the speed at which the joint runs between each command is discrete, and the robotic
arm will have a brief pause when running the joint command.
1. If the operating speed is too fast (>=150°/s), the robotic arm arm can trigger
the error reporting mechanism easily.
2. For the linkage of multiple joints, the speed is preferably set within 100 ° / s.
3. The robotic arm arm cannot reach the stated constant speed in different
postures.
4. When the robotic arm is running in a high speed, make sure not to bump into
the surrounding people and equipment
5. When changing the speed, it takes a certain amount of time to reach the
stated speed, and the acceleration should be set.
NOTICE
When releasing the joint brakes, someone must support the robot's posture to
prevent the robotic arm from falling without external force and damage the
robotic arm and surrounding equipment.
9.3.4. Joint Brakes
Each joint of the robotic arm is equipped with a brake. The joint brake can be released when
the robotic arm is motion enabled, and the joint that releases the brake can be freely
dragged.When the robotic arm is motion enabled, all the joint brakes should be manually
turned off to ensure a normal operation on the robotic arm.
DANGER
±2PI
±360
±125
-2.18~2.18
±2PI
±360
-4.0100 ~ 0.1000
-300 ~ 6
-1.7500 ~ PI
-100~ 180
±360
±2PI