Accels Setting For Cp Motions - Epson G20 series Manipulator Manual

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.
NOTE

Set ACCELS as follows according to the Z-axis height.
G10
Z position
(mm)
__- 0 > Z >= - 100
_-100 > Z >= - 200
- 200 > Z >= - 300
- 300 > Z >= - 420
G20
Z position
(mm)
__- 0 > Z >= - 100
_-100 > Z >= - 200
- 200 > Z >= - 300
- 300 > Z >= - 420
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
G10 / G20 Rev.20
Reduction of the life and damage of the ball screw spline
ACCELS setting value by Z-axis position and tip load
Tip load
5kg or less
25000 or less
15000 or less
11000 or less
5kgor less
25000 or less
15000 or less
11000 or less
Z-axis height 0
(Origin point)
Whether the ball screw spline shaft is deformed or bent
Setup & Operation 1. Safety
10kg or less
18000 or less
11000 or less
7500 or less
5500 or less
Tip load
10kgor less 15kgor less
18000 or less 12000 or less
11000 or less 7000 or less
7500 or less 5000 or less
5500 or less 3500 or less
Z
20kgor less
9000 or less
5500 or less
3500 or less
2500 or less
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