Vibration Control M

Overview

Vibration Control M reduces the vibration with taking the robot posture and payload into account.
This function is effective especially when a robot runs in high-speed while the Z-axis is in the lowest limit with heavy payload.

Target Robot Models

This function is available for the following robots.

Usage

This function is enabled when [217: Vibration Control M setting] on the Configuration List is set to "1" (ON) by the teach pendant. To disable the function, select "0"(OFF).
Initial value of this parameter differs depending on the robot models as shown in the figure above.
For detailed information about displaying and setting the configuration, refer to "Displaying and Setting the Configuration" of the TEACH PENDANT OPERATION GUIDE.

Precautions for Use

• Specify exact load conditions such as mass of payload and payload center of gravity. Otherwise, the vibration may not be reduced or the path accuracy may deteriorate.
• If the path accuracy deteriorates, reduce the speed and/or acceleration, or disable this function.
• Encoder operation waiting time of @E or @C may be prolonged.
• Disable Vibration control M at the time of Force control.
• To perform the extended-joint tracking with two or more robots, you need to match the Vibration control M enable/disable status between the master and slave. For details, refer to "Precautions When Using Vibration Control M for Extended-Joint Tracking" in the CONVEYOR TRACKING MANUAL.

• For equipment performing the conveyor tracking (excluding the extended-joint tracking) or the circular tracking by using HS series robots, if you replace robots (including a robot controller) with HSA1 series robots, there are precautions.

  For details, refer to “Precautions” in the conveyor tracking manual or “Precautions” in the circular tracking manual.