Epson LS20, Manipulator Manual, Page: 61 / 176

Setup & Operation 4. Setting of End Effectors
LS20 Rev.4 49
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. 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.
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
Automatic acceleration/deceleration vs. Joint #3 position
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
120
100
80
60
40
20
0 - 100 - 200 - 300 - 400 (mm)
Height of the shaft
(%)
(-150, 100)
(-313, 24)
(0, 100)
LS20-804*
(-420, 24)
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
120
100
80
60
40
20
0 - 100 - 200 - 300 - 400 (mm)
Height of the shaft
(%)
(-100, 100)
(-317, 24)
(0, 100)
(-420, 24)
LS20-A04*

NOTE