Epson G6 series, Руководство манипулятора, Страница: 78 / 216

Setup & Operation 4. Setting of End Effectors
66 G6 Rev.21
(c) Moment of inertia of a sphere
m r
2
+ m × L
2
2
5
Sphere’s center of gravity
r
Mass (m)
L
Rotation center
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. (Refer to the figure below.) 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.
Automatic acceleration/deceleration vs. Joint #3 position
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
position of Joint #3
120
100
80
60
40
20
0 -100 -200 -300 -400 (mm)
Height of the shaft
(%)
100
20
100
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.

NOTE