Accels Setting For Cp Motions - Epson T-B Series Manual

1.7 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.
NOTE
Improper setting may cause following problems.

Set the ACCELS as follows depending on the Z axis height.
ACCELS setting values by Z-axis height and tip load
T3-B
T6-B
Z-axis height 0
(Origin position)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following points.
T-B series Rev.1
- Decline in the life and damage of the ball screw spline
Z axis height
(mm)
__- 0 > Z >= _- 50
_- 50 > Z >= - 100
- 100 > Z >= - 150
Z axis height
(mm)
__- 0 > Z >= _- 50
_- 50 > Z >= - 100
- 100 > Z >= - 150
- 150 > Z >= - 200
- Whether or not the ball screw spline shaft is deformed or bent
1kg or less
10000 or less
1kg or less
10000 or less
Z
T3-B T6-B Manipulator 1. Safety
Tip load
2kg or less 3kg or less
Tip load
2kg or less 3kg or less
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