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

1.7 ACCELS Setting for CP Motions

When operating the Manipulator in CP motion:
Acceleration/deceleration may be adjusted automatically depending on the tip load and
the Z-axis height to prevent damages of the ball screw spline.
ACCELS correction is performed by WEIGHT setting. If the Weight setting is not proper
NOTE

for the tip load, the following problem occurs.
Example:
Maximum value of ACCELS is corrected automatically depending on the Z-axis height.
The following is an example of values which are corrected per 100mm (Z-axis height).
Maximum ACCELS correction values by Z-axis height and tip load
Z-axis height
(mm)
0 > Z >= −100
−100 > Z >= −200
−200 > Z >= −300
−300 > Z >= −420
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following.
LS-B series Rev.5
- Decline in the life and damage of the ball screw spline
5kg or less
10000 or less
Z-axis height 0
(Origin position)
- Whether or not the ball screw spline shaft is deformed or bent
Tip load
10kg or less 15kg or less
10000 or less
10000 or less
7000 or less
7500 or less 5000 or less
5500 or less 3500 or less
Z
LS20-B Manipulator 1. Safety
20kg or less
9000 or less
5500 or less
3500 or less
2500 or less
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