Accels Setting For Cp Motions - Epson SCARA ROBOT Manipulator Manual

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