User`s manual

4
Data setting
4-6
The movement amount per command pulse is calculated from the formula shown below.
Movement amount per command pulse [mm/pulse] =
Lead length [mm/rev]
20480 [pulses/rev]
× E-Gear ratio
When the lead of the robot is 6 mm and the E-Gear ratio is "1", the robot movement distance per command
pulse is as follows.
Movement amount per command pulse [mm/pulse] =
6 [mm/rev]
0.293 × 10
-3
[mm]
20480 [pulses/rev]
× 1
According to the above, the design of the E-Gear ratio is calculated from the formula shown below.
Movement amount per command pulse [mm/pulse] x
Lead length [mm/rev]
20480 [pulses/rev]
E-Gear ratio =
The E-Gear ratio necessary to move the robot, which has a lead of 6 mm, 0.01 mm by one command pulse is
calculated as follows.
=
600
20480
=
100
1
6 [mm/rev]
20480 [pulses/rev]
0.01 [mm/pulse] x
6 [mm/rev]
20480 [pulses/rev]
E-Gear ratio =
[mm/pulse] x
So, set "20480" for "E-Gear 1" and "600" for "E-Gear 2".
2.2.4 Servoparameters
Adjustment(foruseradjustments)
■
K76
Payload 1
(JOG operation only)
Setting Range Default Units Restart
0 to … (depends on robot type)
Depends on robot type kg -
 Function
Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. According to this
setting, the max. payload acceleration suitable for the JOG operation is automatically set for "Max. payload accel. 1".
c
CAUTION
If a value smaller than the actual payload is set, vibration or heating may occur, causing a malfunction.
Additionally, this may also shorten the robot life. So, be sure to set an appropriate value suitable for the actual
payload.
K77
Max. payload accel. 1
(JOG operation only)
Setting Range Default Units Restart
- 2 m/s
2
-
 Function
Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter.
w
WARNING
THIS SET VALUE APPLIES TO THE JOG OPERATION. WHEN DESIGNING THE MOVEMENT COMMAND USING THE PULSE
TRAIN IN THE HOST UNIT, DESIGN THE MOVEMENT COMMAND SO THAT IT DOES NOT EXCEED THE ACCELERATION
SPECIFIED BY THIS PARAMETER.