Accels Setting For Cp Motion - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual

4.1.7 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
GX10-B
Z-axis Height (mm)
5 kg or Less
0 > Z ≥ -100
25000 or less
-100 > Z ≥ -200
- 200 > Z ≥ -300 15000 or less
- 300 > Z ≥ -420 11000 or less
GX20-B
Z-axis Height (mm)
5 kg or less
0 > Z ≥ -100
25000 or less
- 100 > Z ≥ -200
- 200 > Z ≥ -300 15000 or less
- 300 > Z ≥ -420 11000 or less
Symbol Description
a Z-axis height 0 (origin position)
Also, if a CP motion was performed with incorrect values set, check the following point.
Tip Load
10 kg or Less
18000 or less
11000 or less
7500 or less
5500 or less
Tip Load
10 kg or less 15 kg or less
18000 or less 12000 or less
11000 or less 7000 or less
7500 or less 5000 or less
5500 or less 3500 or less
20 kg or less
9000 or less
5500 or less
3500 or less
2500 or less
Rev.7
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