Epson SCARA GX Series, Manual

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GX4 Manipulator 1. Safety
10 GX series Rev.2
1.7 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, refer to the following and set ACCELS
properly using the SPEL program 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
3kg or less 4kg or less
- 0 > Z >= - 50
25000 or less
25000 or less
- 50 > Z >= - 100 25000 or less
- 100 > Z >= - 150 21500 or less
Z
Z-axis height 0
(Origin point)
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