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Part 1: Setup & Operation
Precautions for auto acceleration / deceleration
When you move the manipulator horizontally with Joint #3 (Z) at a high position, the
motion time will be faster. When Joint #3 gets below a certain point (-60mm in figure 13
below), then auto acceleration/deceleration is used to reduce acceleration/deceleration.
When the manipulator moves with Joint #3 at a higher position, the motion
acceleration/deceleration is faster, but it takes more time to move Joint #3 up and down.
Adjust the position of Joint #3 for the robot motion after considering the relations between
the current position and the destination position. The upper limit of Joint #3 during
horizontal motion is set by the LimZ command.
RC+
SPEL 95
300
* The percentage in the graph is based on the acceleration/deceleration at the upper-limited position
of Joint #3 as 100%
Figure 13. Automatic acceleration/deceleration vs. Joint #3 position
5. End Effectors
25
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