Epson SCARA ROBOT

Setup & Operation 1. Safety
G6 Rev.21 13
1.6 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the tip load and the Z-axis height.
Improper setting may cause following problems.
Reduction of the life and damage of the ball screw spline
Set ACCELS as follows according to the Z-axis height.
ACCELS setting value by Z-axis position and tip load
Z position
(mm)
Tip load
2 kg or less
4 kg or less
6 kg or less
0 > Z > = - 100
25000 or less
25000 or less 17000 or less
- 100 > Z > = - 200
15000 or less
10000 or less
- 200 > Z > = - 330
10000 or less
6500 or less
Z
Z-axis height 0
(Origin point)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
Whether the ball screw spline shaft is deformed or bent

NOTE