Epson T-B Series

T3-B T6-B Manipulator 4. Setting of End Effectors
76 T-B series Rev.1
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
T3-B
100
100
50
50
120
100
80
60
40
20
0 -50 -100 -150 -200 (mm)
(%)
Shaft height
T6-B
100
100
60
120
100
80
60
40
20
0 -50 -100 -150 -200 (mm)
(%)
Shaft height
* Figures on the graph (%) are the proportion to the acceleration/deceleration speed
at the shaft upper limit position.
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.

NOTE