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

(c) Moment of inertia of a sphere

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.
LS-B series Rev.5
LS3-B LS6-B Manipulator 4. Setting of End Effectors
Rotation center
L
Sphere's center of gravity
r
m
2
m r 2 + m × L 2
5
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