Epson G3 Series Manuel d'utilisateur télécharger pdf (Page 55)

Setup & Operation 4. Setting of End Effectors

G3 Rev.1 45

m r

+ m × L

Sphere’s center of gravity

Mass (m)

Rotation center

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

0 -30 -60 -90 -120 -150 (mm) Shaft height

(%)

* Figures on the graph (%) are

the proportion to the

acceleration/deceleration speed

at the shaft upper limit position.

100

G3-25***

G3-30***

G3-35***

When moving the Manipulator horizontally while the shaft is being lowered, it may cause

over-shoot at the time of final positioning.

)

NOTE

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Epson G3 Series Manuel d'utilisateur Page 55