Accels Setting For Cp Motion - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual
✏
POINTS
The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the
emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.
When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand.

3.1.7 ACCELS Setting for CP Motion

To make the Manipulator move in CP motion, set ACCELS properly in the SPEL program according to the tip load and the Z-
axis height.
✏
POINTS
If the ACCELS settings are not properly configured, the following problem may occur.
Shortened lifespan and damage to the ball screw spline
Set ACCELS as shown below based on the Z-axis height.
ACCELS setting values by the Z-axis height and tip load
Z-axis Height (mm)
4 kg or Less
0 > Z ≥ -100
- 100 > Z ≥ -200 25000 or less
- 200 > Z ≥ -330
a
Z
Symbol Description
a Z-axis height 0 (origin position)
Tip Load
6 kg or Less 8 kg or Less
25000 or less 23500 or less
23000 or less 16000 or less
16000 or less 11500 or less
Rev.7
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