IAI America ZR-M - Manual (Page 41)

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Continuous operation of the Z-axis (vertical axis)
Continuous operation of the R-axis (rotational axis)
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Load
Allowable inertia
11. Operation Adjustment
11.1 Guide for Acceleration Setting
When setting the acceleration, use the following graph as a guide.
 This graph provides a guide when each axis is operated separately. If interpolated operation is
performed, adjust the acceleration according to the acceleration/deceleration of the slower axis.
 Continuous operation (duty: 100%)
 Refer to 11.2, "Notes on Transferring Load."
 Precautions for the R-axis
If the load inertial moment exceeds one-third of the allowable inertial moment, vibration may occur
depending on the operating conditions.
In this case, adjust the acceleration to a lower level. Also note that adjusting the acceleration alone may
affect the locus in case of interpolated operation. In this case, also adjust the speed.