Epson G3 Series manual Precautions for Auto Acceleration/Deceleration of Joint #3, 100 120 150

Setup & Operation 4. Setting of End Effectors

(c) Moment of inertia of a sphere

Sphere’s center of gravity

Rotation center

r	m	2	r	2	+ m	⋅	L	2
		5
Mass (m)

L

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3

When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster.

When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to reduce acceleration/deceleration. (Refer to the figure below.) 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 using Jump command can be set by the LimZ command.

Automatic acceleration/deceleration vs. Joint #3 position

(%)120	100		100	100
100
80						60
60
40						30
20
	0	-30	-60	-90	-120	-150

*Figures on the graph (%) are the proportion to the acceleration/deceleration speed at the shaft upper limit position.

G3-25***

G3-30***

G3-35***

(mm) Shaft height

NOTE When moving the Manipulator horizontally while the shaft is being lowered, it may cause ) over-shoot at the time of final positioning.

G3 Rev.1 45