Total Output Capacity for Extended-Joint Motors

1. Use the extended-joint support robot controller with specified motors whose total capacity is less than the allowable limit.

   If the total capacity of connected motors exceeds the limit, the robot controller will cause an error. In the worst case, the internal circuits in the robot controller may be damaged.

2. Even with the specified capacity of motors, the robot controller could cause a power error, overcurrent, overvoltage, overload and other errors, depending upon the use conditions of the extended-joint motors.

   Those problems may be solved by adjusting acceleration, deceleration, maximum speed, and gain of each extended-joint servo loop.

(*1) When both the robot unit and extended-joint motors operate simultaneously, the total output capacity for extended-joints can apply as listed above.

(*2) If extended-joint motors are to be driven only when the robot is on halt, these output capacities can apply.

(*3) The total output capacity for extended-joint motors is further restricted if extended-joints are used as traverse accelerators of the robot so that they receive reaction force from the robot unit.

The above table assumes the following operating conditions: Arm folded, 70% robot load, and 30% extended-joint load.

(*1) When both the robot unit and extended-joint motors operate simultaneously, the total output capacity for extended-joints can apply as listed above.

(*2) If extended-joint motors are to be driven only when the robot is on halt, these output capacities can apply.

(*3) The total output capacity for extended-joint motors is further restricted if extended-joints are used as traverse accelerators of the robot so that they receive reaction force from the robot unit.

The above table assumes the following operating conditions: Arm folded, 70% robot load, and 30% extended-joint load.