Yamaha 3-axis model Setting the maximum speed, Models requiring lower maximum speed setting

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

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