7.2.1.10. High load mode

7.2.1.10. High load mode

 

If the tool load, calculated in 『[F2]: System』 → 『3: Robot parameter』 → 『1: Tool data』 using the tool weight, center and inertia, exceeds the robot’s own allowed tool load during the setting, or if the Motor On operation is initiated with such setting, the warning ‘W0141 Tool?) Allowable inertia exceeded. High load mode is used.” will be generated. If the robot is operated while disregarding the warning, severe vibration will occur, and, together with it, the lifetime of the robot will be significantly reduced. 

 

In this case, if it is set <Enable>, the filter time and acceleration/deceleration time will be increased, leading to significantly increased robot’ own operation cycle time. However, such operation will reduce vibration that the robot could suffer, and make its lifetime longer.