Epson LS20-BA04S - Precautions for Auto Acceleration;Deceleration of Joint #3

Setup & Operation 4. Setting of End Effectors
46
LS20-B Rev.4
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3
When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high
position, the motion time will be faster.
When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to
reduce acceleration/deceleration. (Refer to the figures below) The higher the position of
the shaft is, the faster the motion acceleration/deceleration is. However, it takes more time
to move Joint #3 up and down. Adjust the position of Joint #3 for the Manipulator motion
after considering the relation between the current position and the destination position.
The upper limit of Joint #3 during horizontal motion using Jump command can be set by the
LimZ command.
Automatic acceleration/deceleration vs. Joint #3 position
120
100
80
60
40
20
0 − 100 − 200 − 300 − 400 (mm) Shaft height
(%)
100
18
100
18
14
14
* Figures on the graph (%)
are the proportion to the
acceleration/deceleration
speed at the shaft upper
limit position.
LS20-BA04*
LS20
-B804*
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
Shaft height (mm)
Acceleration/Deceleration
LS20-B804*
LS20-BA04*
0
100
100
−150
100
100
−400
14
18
−42
0
14
18

NOTE