Epson LS20, Manipulator Manual, Page: 23 / 176

Setup & Operation 1. Safety
LS20 Rev.4 11
1.6 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the tip load and the Z-axis height.
Improper setting may cause following problems.
Reduction of the life and damage of the ball screw spline
Set ACCELS as follows according to the Z-axis height.
ACCELS setting value by Z-axis height and tip load
Z-axis height
(mm)
Tip load
5 kg or less 10 kg or less 15 kg or less 20 kg or less
0 > Z >= - 100
10000 or less
10000 or less
10000 or less 9000 or less
- 100 > Z >= - 200 7000 or less 5500 or less
- 200 > Z >= - 300 7500 or less 5000 or less 3500 or less
- 300 > Z >= - 420 5500 or less 3500 or less 2500 or less
Z-axis height 0
(Origin point)
Z
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
Whether the ball screw spline shaft is deformed or bent

NOTE