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Chapter 3 Preparing the Robot
10-2 Setting the maximum speed
When operating a ball screw driven robot, the ball screw's free length will in-
crease as the movement stroke increases, and the resonance frequency will drop.
Thus, the ball screw may resonate and generate vigorous vibration depending on
the motor rotation speed. (The speed at which resonance occurs is called the
whirling speed.) To prevent this resonance, the maximum speed setting must be
lowered if the movement stroke increases depending on the robot model.
!
CAUTION
Continuing use while the ball screw is resonating will cause the ball screw to
wear out prematurely.
!
CAUTION
There are cases when the whirling speed is not reached depending on the
movement point. (The ball screw’s nut acts as the support material, so when
operating the robot near the center of the stroke, the ball screw's free length will
be shortened and resonance will not occur as easily.) If resonance does not
occur when the robot is actually operated, the speed can be increased.
■ Models requiring lower maximum speed setting
FXYX X-axis stroke 750mm or more
SXYX X-axis stroke 750mm or more
MXYX X-axis stroke 850mm or more
HXYX X-axis stroke 850mm or more
Refer to the catalog for the maximum speed setting values.
The maximum speed can be reduced by lowering the speed setting for automatic
operation or by lowering the speed with a program command. The user should
select the suitable method.
Refer to the following sections in the Robot Controller Instruction Manual for
details on changing the speed setting during automatic operation.
For ERCX, SRCX, DRCX or TRCX controller
Chapter 9 Robot Operation > 9-3. Automatic Operation
For RCX40 or QRCX controller
Chapter 4 Operation > 9. "Auto" Mode > 9-6. Changing the automatic movement speed