Precautions For Auto Acceleration/Deceleration Of Joint #3 - Epson SCARA GX Series Manual

(a) Moment of inertia of a rectangular parallelepiped
(b) Moment of inertia of a cylinder
Cylinder's center of gravity
(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. 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.
GX series Rev.2
Rectangular parallelepiped's center of gravity
Rotation center
m
L
h
Rotation center
r
m
Rotation center
L
GX4 Manipulator 4. Setting of End Effectors
b
L
Sphere's center of gravity
r
m
b + h
2 2
m + m × L
2
12
r
2
m + m × L
2
2
2
m r + m × L
2 2
5
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