IAI America IX-NNN1805 - Manual (Page 68)

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12. Precautions for Use
x To operate the robot at the maximum acceleration/deceleration, provide a stopping period of 3 seconds or
more after each acceleration/deceleration.
x If arm 1 operates by 125 degrees or more, use the reference settings for acceleration/deceleration during
continuous operation as the reference settings for maximum acceleration/deceleration.
Also, set to 1/3 of that value as the reference settings for continuous operation.
x Start from the appropriate reference setting for acceleration/deceleration during continuous operation, and
then gradually raise the value for the purpose of adjustment.
x If an overload error occurs, lower the acceleration/deceleration setting as appropriate or provide an
appropriate stopping time following each acceleration/deceleration.
x Depending on the position of the vertical axis, the robot may generate vibration when axis 1, axis 2 or the
rotational axis turns. If vibration occurs, lower the acceleration/deceleration as appropriate.
x To move the robot horizontally at high speed, keep the vertical axis as close as possible to the top position.
If the vertical axis is operated at the bottom position, the spline shaft for the ball screw will bend and the
vertical axis will be disabled.
x Keep the inertial moment of axis 4 to the allowable value or less. (Refer to 12.3, “Carrying Load.”)
x The carrying load refers to the load at the center of rotation of axis 4.
x Operate the robot by using an appropriate acceleration/deceleration coefficient as determined by the mass
of the end. Failure to do so may cause the drive part to wear prematurely or may result in damage or
vibration.
Caution