Epson LS10-B, Руководство пользователя

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Setup & Operation 4. Setting of End Effectors
42 LS10-B Rev.6
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 figures 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
* Figures on the graph (%) are the
proportion to the acceleration/deceleration
speed at the shaft upper limit position.
100
60
100
LS10-B60**
LS10-B70**
LS10-B80**
120
100
80
60
40
20
0 -100 -200 -300 (mm)
Shaft height
(%)
20
70
40
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
Shaft height
(mm)
Acceleration/Deceleration
LS10-B60**
LS10-B70**
LS10-B80**
0 100 100
− 100
100 100
− 200
60 70
− 300
20 40

NOTE