Notes for Setting the Positioning Speed (HS/HSS)

To Be Applied to All Models of the HS Series (Floor-mount type)

1. To horizontally traverse the robot arm at high speeds, teach the robot so that Z axis comes to be as close as possible to its upper end.
2. To stabilize positioning of Z axis near its lower end, the following maximum speed limiting control is automatically provided for J1 and J2 axes depending on the Z-axis coordinate value, only when the robot is moved under PTP control.
   The positioning time of J1 and J2 axes becomes longer according to the maximum speed limitshown below.
   
   For example, when the robot arm moves by SP100 from the start point (Z-axis coordinate 26 mm) to the target point (Z-axis coordinated -74 mm), the maximum speed limits are as follows:
   91 when Z-axis coordinate is 26 mm 50 when Z-axis coordinate is -74 mm
   At this time, the maximum speed is the smaller value (at the lowest end) of 50.

HS Series: Maximum Speed Limit on the J1 and J2 (PTP control)