Precautions

Precautions When Replacing from HS Series Robots to HSA1 Series Robots

This section describes precautions when replacing HS series robots (including a robot controller) with HSA1 series robots, for equipment performing the circular tracking by using HS series robots.

If you replace robots, you can make robots do the same operation by reusing the original teaching data and robot programs to robots to be replaced.

However, a slight difference of the motion path (hereafter path difference) may occur by machine difference.

When replacing HS series robots with HSA1 series robots, path difference may be larger compared with a case of replacing with HS series robots.

For HSA1 series robots, a function to reduce the vibration of a robot during operation (Vibration Control M) is newly added. Therefore, the vibration is reduced and the precision is improved compared with HS series robots. However, this may make path difference larger than HS series robots.

The possibility that path difference is larger will increase when performing the conveyor tracking (excluding the extended-joint tracking) or the circular tracking.

For HSA1 series robots, the default setting of Vibration Control M is “Enable”, but you can set to “Disable”.

If path difference is large, please set Vibration Control M to “Disable”.

For the setting procedure of Vibration Control M, please refer to Vibration Control M in FUNCTIION GUIDE.