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Setup & Operation 4. Setting of End Effectors
4.4 Precautions in Auto Acceleration/Deceleration of Joint #3
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 (-60 mm in figure
below), 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 can be
set by the LIMZ command.
Automatic acceleration/deceleration vs. Joint #3 position
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
NOTE
over-shoot at the time of final positioning.
52
E2C25/35
* The percentage in the graph is based
on the acceleration/deceleration at the
upper-limited position of Joint #3
as 100%.
Height of the shaft
E2C Rev.6
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