Precautions For Auto Acceleration/Deceleration Of Joint #3 - Epson RS Series Manual

RS3 RS4 Manipulator 4. Setting of End Effectors

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 figure 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
(%)
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
NOTE

over-shoot at the time of final positioning.
48
120
100
100 100
100
80
60
40
20
0 -20 -60
* The percentage in the graph is
50
-100 -140 (mm)
based on the acceleration /
deceleration at the upper-limited
position of Joint #3
RS3-351*
RS4-551*
Height of the shaft
RS series Rev.4