Precautions For Auto Acceleration/Deceleration Of Joint #3 - Epson LS3-401 series Manipulator 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.
Automatic acceleration/deceleration vs. Joint #3 position
LS3
(%)
LS6
(%)
NOTE
When moving the Manipulator horizontally while the shaft is being lowered, it may cause

over-shoot at the time of final positioning.
LS Rev.10
Rotation center
L
120
100
100
100
80
60
40
20
0 -50 -100
120
100
100
80
60
40
20
0 -100
Setup & Operation 4. Setting of End Effectors
Sphere's center of gravity
r
Mass (m)
50 50
-150
100
50
-200 (mm) Shaft height
2
2 + m × L 2
m r
5
* Figures on the graph (%) are
the proportion to the
acceleration/deceleration speed
at the shaft upper limit position.
(mm) Shaft height
* Figures on the graph (%) are
the proportion to the
acceleration/deceleration speed
at the shaft upper limit position.
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