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

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Image 55
Epson G3 Series manual Precautions for Auto Acceleration/Deceleration of Joint #3, 100 120 150, Mm Shaft height G3 Rev.1