IAI America IX-NNN12040 - Manual (Page 32)

1. Specifications Check
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Caution: x When using PTP operation, make to use WGHT Command in the program to
set the weight and moment of inertial before starting operation.
The operation time varies depending on the transfer mass even when the same
acceleration has been set.
x When overload error occurs, either reduce the acceleration speed or make the
stop time longer referring to the graph in 1.2.4 Acceleration and Duty.
x If the robot is required to make horizontal movement in high speed, run the
up/down axis near the upper end as much as possible. It will decrease the
moment of inertia of the load.
In case the moment of inertial of the load is high, vibration could be generated
on the up/down axis depending on the position of the up/down axis. Reduce the
acceleration speed in case vibration is occurred.
x The value of transported load (kg) in the graph is assumed the load is on the
revolution center of the rotation axis.