Parameter Setting for Speed and Accel/Decel Offset in PTP Motion

These commands are used to set the parameters for offsetting the speed and accel/decel in PTP motion.

Specify the parameter to operate the maximum acceleration and deceleration in PTP motion. For Weight command, set the weight of the Hand and a work piece.

Arm length designation is only necessary for the SCARA robots (including RC series). The length is a distance from the center of the Joint #2 to the center of the Joint #3. This is invalid for the models other than the SCARA robots (including RS series).

If the equivalent weight calculated by the setting value exceeds the maximum weight capacity, an error will occur.

Robot parameter data is stored to the memory card in the Controller. Therefore, execution of the command writes to the memory card. Frequent writing to the memory card affects its product life. It is recommended to minimize the execution of the command.

Potential errors

• If the value exceeds the maximum allowable load
  When the equivalent weight calculated from the value entered exceeds the maximum load weight, an error will occur.
• Potential Damage to the Manipulator Arm
  Note that if the hand weight for Weight is significantly less than the actual weight, exesive acceleration and deceleration values will be set and may cause damage to the manipulator.

CAUTION

---

Weight values are not changed by turning main power Off