IAI America IX-UNN3515H - Manual (Page 48)

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12. Precautions for Use
x When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal
acceleration/deceleration function adjusts the maximum acceleration/acceleration at which the robot can
accelerate/decelerate carrying the load weight set by the WGHT command, to 100%.
Be sure to set the mass and inertial moment using the WGHT command.
Never set in the WGHT command a value smaller than the load mass installed on the vertical axis.
If such smaller value is set, the robot accelerates/decelerates at the maximum acceleration/deceleration
permitted for the applicable load weight or even higher, and consequently the SCARA robot may stop by
generating an error or break down.
x Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
x Operate the SCARA robot by maintaining an acceleration/deceleration appropriate for the applicable mass
and inertial moment. If not, the life of the driving part may be shortened or damage or vibration may result.
x If an overload error (error code: D0A) occurs, lower the acceleration/deceleration setting or provide an
appropriate stopping time based on the reference duty for continuous operation.
Duty (%) = (Continuous operation / (Continuous operation + Stopping time)) / 100
x To move arm 1 or 2 of the SCARA robot horizontally at high speed, keep the vertical axis near the top
position. If such high-speed operation is performed with the vertical axis lowered, the vertical axis may
vibrate.
x Be sure to keep the inertial moment and carrying load at the allowable values or less.
x The carrying load represents the inertial moment and mass at the center of rotation of axis 4. If the
acceleration/deceleration is raised when the inertial moment far exceeds the allowable value, control is
disabled in the rotating direction.
x Depending on the position of the vertical axis, the vertical axis may generate vibration when the inertial
moment of the load is high. If vibration occurs, lower the acceleration/deceleration.
Caution