4-8
4.6.2 Control Set 1
Set the maximum speed and acceleration for the 1st, 2nd and 3rd axes in PTP
motion according to the load condition value of the robot and the robot figure in
motion. For the 4th, 5th and 6th axes in PTP motion, and for CO motion, this is
the same as that of control set 0.
4.6.2.1 Using Control Set 1
If you need to reduce the motion time in PTP motion, select control set 1.
Check the motion time for control set 1 in machine lock operation.
4.6.2.2 Precautions for Using Control Set 1
An overload error or excess deviation error may occur in motion. For the load
factor, check the overload estimation value on the pendant. (Refer to the
SETTING-UP MANUAL, Section 5.3, “Displaying anticipated overloads to the
capacity of motors and brake resistance of the robot controller, [F2]—[F6]—
[F10].") Or, check the load factor using the log function of WINCAPSII (refer to
the WINCAPSII Guide, Section 10.4, “Actions Menu”).
If an overload error occurs, adjust the motor load by setting appropriate values
of the timer, internal speed, and acceleration.
If an excess deviation occurs, adjust the speed and acceleration.
Depending on the motion speed, the pass locus may change by approximately
20 mm. Therefore, because the pass motion near an obstacle may possibly
interfere with the obstacle, execute the motion in control set 0.
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