Denso RC5 Spezifikationen PDF herunterladen (Seite 125)

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Chapter 4 Speed, Acceleration and Deceleration Designation

4-11

4.6.6 Notes for Setting

There are external load condition values (mass of payload, center of gravity

position) and an external mode that are set with the pendant and WINCAPSII

and internal load condition values and an internal mode that are set in a

program in load condition value (mass of payload and center of gravity

position) and mode which are set with this function.

If you set the external load condition values and the external mode, the internal

load condition values and the internal mode also have the same values.

The robot moves by setting the maximum speed and acceleration from the

internal load condition and the internal mode.

You can check the current internal load condition values and the internal mode

on the pendant (refer to “4.7 Control Set of Motion Optimization in User

Preferences”).

When you turn ON the main power of the controller, both the internal and

external modes are set to “0.” (Note: only Ver. 1.3* before. See Section 4.7.4.)

And the internal load condition values become the same as the external load

condition values. Therefore, set the internal mode and the internal load

condition values in a program according to your requirement.

The external load condition values before delivery are 7000 [g] of end load

mass, and X6=0 [mm], Y6=80 [mm] and Z6=100 [mm] of the load center of

gravity position.

Note (1): Be sure to set the correct load condition values

corresponding to the load. Improperly set data will cause

overcurrent, excessive deviation, overload and other errors

during robot operation, resulting in a robot failure.

Additionally, when the robot stops on receiving a robot stop

signal, the stop distance may extend and the robot may

collide with peripheral devices.

Note (2): Set the correct robot installation condition. Set this with the

pendant or WINCAPSII (refer to Part 1 “4.7.3 Setting robot

installation condition”).

Improperly set data will cause overcurrent, excessive

deviation, overload, and other errors during robot operation,

resulting in a robot failure. Additionally, when the robot

stops on receiving a robot stop signal, the stop distance

may extend and the robot may collide with peripheral

devices.

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