Accels Setting For Cp Motions - Epson LS10-B Series User Manual

1.6 ACCELS Setting for CP Motions

When operating the Manipulator in CP motion:
Acceleration/deceleration may be adjusted automatically depending on the tip load and
the Z-axis height to prevent damages of the ball screw spline.
ACCELS correction is performed by WEIGHT setting. If the Weight setting is not proper
NOTE

for the tip load, the following problem occurs.
Example:
Maximum value of ACCELS is corrected automatically depending on the Z-axis height.
The following is an example of values which are corrected per 100mm (Z-axis height).
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following.
LS10-B Rev.6
- Decline in the life and damage of the ball screw spline
Maximum ACCELS correction values by Z-axis height and tip load
Z-axis height
(mm)
Z = 0
Z = −100
Z = −200
Z = −300
Z-axis height 0
(Origin position)
- Whether or not the ball screw spline shaft is deformed or bent
3kg
25000 or less
25000 or less
18000 or less
13000 or less
Z
Setup & Operation 1. Safety
Tip load
6kg 10kg
25000 or less
18000 or less
11000 or less
7500 or less
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