Safety Information For Auto Acceleration Of Joint #3; Automatic Acceleration/Deceleration Correction By Shaft Position - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual
(b) Moment of inertia of a cylinder
a
Symbol Description
a Center of gravity of cylinder
b Rotation axis
(c) Moment of inertia of a sphere
a
Symbol Description
a Rotation axis
b Center of gravity of sphere

3.4.4 Safety Information for Auto Acceleration of Joint #3

When performing horizontal movement in PTP motion, the operation time can be shorted by setting the shaft to a high
position.
When performing horizontal movement in PTP motion, if the shaft height is less than a certain value, the auto acceleration
function is activated, and the acceleration/deceleration of the movement is set slower for lower shaft heights. A higher shaft
position results in a faster acceleration/deceleration for the movement, but the up movement time and down movement time of
the shaft are also required. Adjust the shaft height by taking into consideration the positional relationship between the current
position and the target position.
The shaft height at the time of horizontal movement for the Jump statement can be set by the LimZ statement.

3.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position

Standard mode
GX8-A45***, GX8-B45***
b
b
Rev.7
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