IAI America IX-NNN3515 - Manual (Page 28)

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5. Precautions for Use
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 Acceleration/deceleration settings are common to arm lengths of 250 and 350 mm.
z To operate the robot at the maximum acceleration/deceleration, provide a stopping period of three seconds or more
after each acceleration/deceleration.
z To operate axes 1 and 2 simultaneously at full stroke, use the reference settings for acceleration/deceleration during
continuous operation as the reference settings for maximum acceleration/deceleration. Actual
acceleration/deceleration during continuous operation should be one-third the appropriate reference setting for
continuous operation.
z Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and then
gradually raise the value for the purpose of adjustment.
z If an overload error occurs, lower the acceleration/deceleration 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/deceleration 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 spline shaft for the ball screw will bend and the vertical axis will be
disabled.
z Keep the permissible moment of inertia of axis 4 to 0.015 kg˜m 2
or less.
z The carrying load indicates a load above the rotational center of axis 4.
z Operate the robot by using an appropriate acceleration/deceleration 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.
Caution
Reference acceleration/deceleration
settings for PTP operation
A
ccel
eration/
deceleration (%)
Reference range of maximum
setting
Reference range for continuous
operation setting
Carrying load mass (kg)
100
80
60
40
20
0
0 1 2 3