Epson LS10-B, User Manual

Page: 23 / 180

Setup & Operation 1. Safety
LS10-B Rev.6 11
1.6 ACCELS Setting for CP Motions
When operating the Manipulator in CP motion:
Acceleration/deceleration may be adjusted automatically depending on the tip load and
the Z-axis height to prevent damages of the ball screw spline.
ACCELS correction is performed by WEIGHT setting. If the Weight setting is not proper
for the tip load, the following problem occurs.
- Decline in the life and damage of the ball screw spline
Example:
Maximum value of ACCELS is corrected automatically depending on the Z-axis height.
The following is an example of values which are corrected per 100mm (Z-axis height).
Maximum ACCELS correction values by Z-axis height and tip load
Z-axis height
(mm)
Tip load
3kg 6kg 10kg
Z = 0
25000 or less
25000 or less
25000 or less
Z = − 100
18000 or less
Z = − 200
18000 or less 11000 or less
Z = − 300
13000 or less 7500 or less
Z
Z-axis height 0
(Origin position)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following.
- Whether or not the ball screw spline shaft is deformed or bent

NOTE