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Setup & Operation 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 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
(%)
NOTE
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
Shaft height
42
120
100
100
100
80
60
60
40
20
0
-100
-200
Acceleration/Deceleration
LS10-B60**
(mm)
LS10-B70**
0
−100
−200
−300
* Figures on the graph (%) are the
proportion to the acceleration/deceleration
speed at the shaft upper limit position.
70
LS10-B60**
40
LS10-B70**
20
LS10-B80**
-300
(mm)
Shaft height
LS10-B80**
100
100
100
100
60
70
20
40
LS10-B Rev.6
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