Setup & Operation 4. End Effectors
C12 Rev.3
49
4.4 Precautions for Auto Acceleration/Deceleration
The speed and acceleration/deceleration of the Manipulator motion are automatically
optimized according to the values of WEIGHT and INERTIA and the Manipulator’s
postures.
WEIGHT Setting
The speed and acceleration/deceleration of the Manipulator are controlled according to the
load weight set by the WEIGHT command.
The more the load weight increases, the more the speed and acceleration/deceleration are
reduced to prevent residual vibration.
INERTIA Setting
The acceleration/deceleration of Arm #6 are controlled according to the inertia moment set
by the INERTIA command. The acceleration/deceleration of the whole Manipulator are
controlled according to the eccentricity set by the INERTIA command. The more the
inertia moment and eccentricity of the load increase, the more the acceleration/
deceleration are reduced.
Auto Acceleration/Deceleration According to Manipulator’s Posture
The acceleration/deceleration are controlled according to the Manipulator’s posture.
When the Manipulator extends its arms or when the movement of the Manipulator produces
vibration frequently, the acceleration/deceleration are reduced.
Set appropriate values for WEIGHT and INERTIA so that the Manipulator operation is
optimized.
Summary of Contents for C12 Series
Page 1: ...Rev 3 EM204R4255F 6 Axis Robots C12 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual C12 series Rev 3 ...
Page 8: ...vi C12 Rev 3 ...
Page 14: ...Table of Contents xii C12 Rev 3 ...
Page 16: ......
Page 30: ...Setup Operation 2 Specifications 16 C12 Rev 3 2 4 Outer Dimensions Unit mm ...
Page 84: ......
Page 155: ...Maintenance 4 Cable Unit C12 Rev 3 141 4 2 Connector Pin Assignment 4 2 1 Signal Cable ...
Page 156: ...Maintenance 4 Cable Unit 142 C12 Rev 3 ...
Page 157: ...Maintenance 4 Cable Unit C12 Rev 3 143 ...
Page 158: ...Maintenance 4 Cable Unit 144 C12 Rev 3 4 2 2 Power Cable ...
