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２ Robot arm
(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to
Fig.
2-4) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in
Acceleration/deceleration is compensated for at a position below P3 in
gravity of the load is located at the front edge of the shaft.
Area in which speed and
acceleration/deceleration
speed are not compensated
速度、加減速度を
補正しない領域
Area in which speed and
速度、加減速度を
acceleration/deceleration
補正する領域
speed are compensated
Fig.2-3 ： Area in which acceleration/deceleration speed is compensated
Table 2-4 ： Area in which acceleration/deceleration speed is compensated
Stroke length
120
150
J3 axis (Z)
stroke
(Standard Acceleration/deceleration speed)
加
100
減
速
度
割
36
合
24
(%)
0
310
370
Shaft position (mm)
シャフト位置（mm）
Fig.2-4 ： Automatic compensation of acceleration/deceleration speed
2-17
P1
→
P3
→
P2
J3 axis stroke (mm)
P1
(Upper end)
340
370
120mm/150mm
250
220
Fig. 2-3
Shaft (J3 axis)
シャフト(J3軸)
P2
(Lower end)
220
220
if the position of the center of
Compensation area
(P2 to P3)
220 ～ 310
220 ～ 310
Fig.
2-3,
Fig.
2-3.
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