Denso RC5 Specifications download pdf (Page 123)

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Chapter 4 Speed, Acceleration and Deceleration Designation

4-9

4.6.3 Control Set 2

Set the maximum speed and acceleration in CP motion according to the load

condition value of the robot and the robot figure in motion. This is the same as

that of control set 0 in PTP motion.

4.6.3.1 Using Control Set 2

Use control set 2 in the following two cases.

• If you need to reduce the motion time in CP motion.

Fig. 4-8 shows the relation between the load condition and the shortest

moving time in control set 2. However, because the robot may possibly and

automatically reduce the speed during motion, check the motion time in

machine lock operation.

Fig. 5-8 Positioning Time in CP Motion (Shortest time) ; (VS-D)

• If you select control set 0 or 1, an error of command speed limit over (6081

to 6086) occurs in CP motion. In control set 0 or 1, if the path passes near a

singular point (refer to the SETTING-UP MANUAL, Subsection 4.1.3, “[ 2 ]

Boundaries of Robot Figures”) or the vicinity of the motion range limit, an

error of command speed limit over may occur, stopping the robot. In control

set 2, however, the speed automatically falls within the command speed

limit, allowing you to operate the robot without the above error.

4 (kg) < PL ≤ 5 (kg)

3 (kg) < PL ≤ 4 (kg)

2 (kg) < PL ≤ 3 (kg)

1 (kg) < PL ≤ 2 (kg)

PL ≤ 1 (kg)

PL: Load set value

Positioning time

Motion distance (mm)

1 2 ... 118 119 120 121 122 123 124 125 126 127 128 ... 691 692

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Denso RC5 Specifications Page 123

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