IAI America ZR-M - Manual (Page 42)

28
11.2 Notes on Transferring Load
 Set an appropriate acceleration according to the mass and inertial moment at the tip.
Failure to do so may result in premature consumption of life, damage or vibration of drive parts.
 If vibration occurs, lower the acceleration.
 To raise the acceleration, adjust it to an appropriate level by gradually raising the set value.
 If the load gets offset, the unit becomes more likely to cause vibration.
Design the tools so that the load’s center of gravity aligns with the center of the R-axis (rotational axis).
 If an overload error occurs, lower the acceleration setting or provide a stopping time following each
acceleration/deceleration or perform other appropriate adjustment.
 The transferring load indicates a load above the rotational center of the R-axis (rotational axis).
 To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to
the top position as possible.
To operate the unit with its vertical axis at the bottom position, the speed and acceleration must be
reduced.
* For other detailed adjustment methods, refer to the operation manual for your controller (XSEL-P/Q).
11.3 Push Force
The push force can be adjusted using Driver Card Parameter No. 38 (Push Torque Limit during
Positioning).
(Max. 70%)
The R-axis cannot perform push operation. Only the Z-axis can perform this operation.