3-24
Chapter 3 Preparing the Robot
10-3 Setting the acceleration
The acceleration is automatically set for the Cartesian robot XY-X Series when
the payload parameter is set, so large vibration will not occur during operation.
However, if the tool or workpiece is greatly offset from the robot, vibration may
occur especially during positioning.
In this case, lower the controller's acceleration setting.
Lowering the acceleration is also effective if tool or workpiece vibration occurs
due to a low tool rigidity.
■ List of acceleration parameters
Controller Acceleration parameter
DRCX X-axis PRM51 Y-axis PRM91
TRCX3 X-axis PRM51 Y-axis PRM91 Z-axis PRM131
TRCX4 X-axis PRM51 Y-axis PRM91 Z-axis PRM131
R-axis PRM171
RCX40, QRCX Axis parameter "1. Acceleration coefficient"
Refer to the following sections in the Robot Controller Instruction Manual, and
change the acceleration.
For DRCX or TRCX controller
Chapter 5 Parameters
For RCX40 or QRCX controller
Chapter 4 Operation > 12. "System" Mode > 12-1-2. Axis parameters