TRANSPORTATION AND INSTALLATION MANUAL
118
Load Conditions and Program Setting
10.3.2.
This robot can automatically change the maximum speed, acceleration/deceleration
and servo gain by using the PAYLOAD command in the program according to the load
conditions.
Be sure to use the PAYLOAD command.
The specific method for using this function is explained below.
a) PAYLOAD command format
The PAYLOAD command format is written as shown below if the tool mass is M kg
and the gravity center offset is G mm.
PAYLOAD = {M, Gx, Gy, Gz}
M: Load mass (unit: kg)
Gx: Center-of-gravity offset in the X direction (Units in mm: Absolute value)
Gy: Center-of-gravity offset in the Y direction (Units in mm: Absolute value)
Gz: Center-of-gravity offset in the Z direction (Units in mm: Absolute value)
The PAYLOAD command has the following functions.
• The maximum speed and acceleration/deceleration of each robot axis are
automatically changed according to the set load conditions.
• The servo gain of each robot axis is automatically changed according to the set
load conditions.
b) Program examples
Basic program examples using the PAYLOAD command are shown below. For
further information, see the Robot Language Manual.
(Program example 1)
The robot is moved under the load conditions of 3 kg mass and (50 mm, 50 mm, 50
mm) gravity center offset.
PROGRAM SAMPLE
SPEED=100
PAYLOAD={5,50,50,50}
MOVE P1
MOVE P2
STOP
END
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