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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
G10 series and G20 series
(%)
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
NOTE
F
over-shoot at the time of final positioning.
G10 / G20 Rev.20
120
100
100
80
60
40
20
0
-100
-200
Setup & Operation 4. Setting of End Effectors
100
40
30
30
-300
-400
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
position of Joint #3 as 100%.
G10-85***, G20-85, A0***
G10-65***
(mm)
Height of the shaft
75
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