Safety Information for Auto Acceleration

The speed and acceleration/deceleration of the Manipulator motion are automatically optimized according to the values of WEIGHT and INERTIA and the Manipulator’s postures.

WEIGHT Setting
The speed and acceleration/deceleration of the Manipulator are controlled according to the load weight set by the WEIGHT command. The more the load weight increases, the more the speed and acceleration/deceleration are reduced to prevent residual vibration.

INERTIA Setting
The acceleration/deceleration of Arm #6 are controlled according to the inertia moment set by the INERTIA command. The acceleration/deceleration of the whole Manipulator are controlled according to the eccentricity set by the INERTIA command. The more the inertia moment and eccentricity of the load increase, the more the acceleration/ deceleration are reduced.

Auto Acceleration/Deceleration According to Manipulator’s Posture
The acceleration/deceleration are controlled according to the Manipulator’s posture. When the Manipulator extends its arms or when the movement of the Manipulator produces vibration frequently, the acceleration/deceleration are reduced.

Set appropriate values for WEIGHT and INERTIA so that the Manipulator operation is optimized.