Setting the Speed Reduction Rate in Manual Operation

The speed reduction rate in manual operation can be limited to 10% or below of that in automatic operation.
This section provides the reduction rate calculation procedure using the maximum composite tool-end speed and the target speed in manual operation.

The example below uses a 3-joint mechanism configured with Cartesian coordinates and limits the tool-end speed in manual operation to 250 mm/s or below.

1. Check the specifications of the 3-joint mechanism and calculate the maximum speed of each joint.
   • 3-joint mechanism

   X-joint : Max. speed 2000 mm/s
   Y-joint : Max. speed 2000 mm/s
   Z-joint : Max. speed 1000 mm/s

   • Calculating the maximum speed

   Assuming :
   Lead/rev. : 40 mm
   Maximum motor rotation: 3000 rpm, Then:

   

2. Calculate the maximum composite tool-end speed.
• Calculation example

3. Calculate the speed reduction rate in manual operation to limit the tool-end speed to 250 mm/s or below.
• Calculation example


4. Enter the calculation result into the "Speed reducing rate in manual operation" field in the ArmSet window.
   For details, refer to "Arm Parameter Settings".