Iai-america IX-NNN8040 Manuel d'utilisateur télécharger pdf (Page 30)

5. Precautions for Use

Caution

5 Precautions for Use

5.1 Reference Acceleration/Deceleration Settings

Use the robot based on appropriate acceleration/deceleration settings by referring to the following graph:

(1) PTP operation (Set using the SEL language commands ACCS and DCLS.)

z To operate the robot at the maximum acceleration, provide a stopping period of three seconds or

more after each acceleration/deceleration.

z When arm 1 is operated over 125 degrees or more, use the reference range for the continuous

operation setting as the reference range of the maximum setting. The continuous operation setting

value should be one-third the appropriate maximum value thus set.

z Start from the appropriate reference range for the continuous operation setting, and then gradually

raise the value for the purpose of adjustment.

z If an overload error occurs, lower the acceleration setting as appropriate or provide an appropriate

stopping time following each acceleration/deceleration.

z Depending on the position of the vertical axis, the robot may generate vibration when axis 1, axis 2

or the rotational axis turns. If vibration occurs, lower the acceleration as appropriate.

z To move the robot horizontally at high speed, keep the vertical axis as close as possible to the top

position. If the vertical axis is operated at the bottom position, the ball screw spline shaft will bend

and the vertical axis will be disabled.

z Be careful that the moment of inertia of axis 4 does not exceed the permissible value. (Refer to 5.3,

“Carrying Load.”)

z The carrying load indicates a load above the rotational center of axis 4.

z Operate the robot by using an appropriate acceleration coefficient as determined by the mass of

the tip. Failure to do so may cause the drive part to wear prematurely or may result in damage or

vibration.

IX-NNN50/60

Reference acceleration/deceleration

settings for PTP operation

Acceleration (%)

Carrying load mass (kg)

Reference range of

maximum setting

0 5 10

100

IX-NNN70/80

Reference acceleration/deceleration

settings for PTP operation

cceleration (%)

Carrying load mass (kg)

100

0 5 10 15 20

Reference range for continuous

operation setting

Reference range of maximum setting when arm 1 is

operated over 125 degrees or more

Reference range of

maximum setting

Reference range for continuous

operation setting

Reference range of maximum setting when arm 1 is

operated over 125 degrees or more

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 83 84

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Iai-america IX-NNN8040 Manuel d'utilisateur Page 30

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