Toshiba TH Series Instruction Manual

Also see for TH180: Instruction manual Maintenance manual

STE 73995– 60 –TRANSPORTATION AND INSTALLATION MANUAL4.3.2 Load Conditions and Program SettingEven if the tool load conditions are within the permissible values listed in Table 4.3,acceleration and servo gain that are adequate for the load conditions should be set. Ifthis setting is inadequate, the robot may vibrate or overshoot, resulting in reduction ofthe robot life.The TH series can automatically change the acceleration and servo gain according tothe load conditions by using the PAYLOAD command in the program. The specificmethod for using this function is explained below.a) PAYLOAD commandThe PAYLOAD command format is written as shown below if the tool mass is Mkg and the gravity center is L mm.PAYLOAD = {M, L}M : Load mass (unit: kg)L : Gravity center offset (unit: mm)The PAYLOAD command has the following functions.• The acceleration of each robot axis is automatically changed according to theset load conditions.• The servo gain of each robot axis is automatically changed according to theset load conditions.b) Example programsThe basic programs using the PAYLOAD command are exemplified below. Forfurther information, see the Robot Language Manual.(Example program 1)The robot is moved under the load conditions of 2 kg mass and 30 mm gravitycenter offset.PROGRAM SAMPLESPEED= 100PAYLOAD={2,30}MOVE AMOVE BSTOPEND