Denso RC5 Specifications download pdf (Page 34)

3.4 Notes for Setting the Positioning Speed (HS/HSS-G)

■ To be applied to all models of the HS-G series (Floor-mount type)

(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z

axis comes to be as close as possible to its upper end.

(2) To stabilize positioning of Z axis near its lower end, the following maximum speed

limiting control is automatically provided for J1 and J2 axes depending on the

Z-axis coordinate value, only when the robot is moved under PTP control.

The positioning time of J1 and J2 axes becomes longer according to the

maximum speed limit shown below.

[Movement time in J1/J2 positioning time graphs (sec.)]

x 100 (sec.)

Max. speed limit

For example, when the robot arm moves by SP100 from the start point (Z-axis

coordinate 26 mm) to the target point (Z-axis coordinated -74 mm), the maximum

speed limits are as follows:

91 when Z-axis coordinate is 26 mm

50 when Z-axis coordinate is -74 mm

At this time, the maximum speed is the smaller value (at the lowest end) of 50.

HS-G Series: Maximum Speed Limit on the J1 and J2 (PTP control)

Z-axis coordinate (mm)

There is no speed limit when

the hand moves only along

the Z axis (SP100).

Max. speed limit (Converted to SP value)

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Denso RC5 Specifications Page 34