Denso RC5 Specifications download pdf (Page 24)

3.3 Robot Positioning Time (HS/HSS-G)

1. The graphs given on the following pages show the positioning times used to

calculate the cycle time.

2. Positioning time refers to the time length required from the start of robot operation

to the arrival at the target positioning point.

3. After the robot moves to and passes the target positioning point, vibration will be

dampened and the robot will be positioned at the target positioning point as shown

in the figure below. This vibration dampening time is not considered in those

graphs.

Caution (1) The vibration dampening time depends on factors such as the

weight of the hand. If the robot is to be used in such a way that

it overshoots or if the vibration damping time is of great

concern, then test the robot carefully beforehand.

(2) If acceleration begins before residual vibration of the robot

stops, an overcurrent error (code starts from ERROR6120

where the first digit represents the axis number) may be

displayed. In this case, take one of the following measures:

• Lower the deceleration of the preceding operation with a

DECEL command to reduce residual vibration.

• Keep the robot in stand-by with a DELAY command until

residual vibration stops.

• Lower acceleration with an ACCEL command.

(3) Run the robot with the optimum payload setting in accordance

with weight of the hand and workpiece. If not, a robot failure

may result.

(4) In the positioning time graphs, the Z-axis stroke is represented

near the upper end. Near the lower end, the horizontal

movement time along the J1/J2 axis increases. (Refer to

"Notes for setting the positioning speed .")

Vibration Dampening Time

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 55 56

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Denso RC5 Specifications Page 24