Setup & Operation 4. Setting of End Effectors
52
E2C Rev.6
4.4 Precautions in Auto Acceleration/Deceleration of Joint #3
When you move the Manipulator horizontally with Joint #3 (Z) at a high position, the
motion time will be faster. When Joint #3 gets below a certain point (-60 mm in figure
below), then auto acceleration/deceleration is used to reduce acceleration/deceleration.
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 can be
set by the LIMZ command.
Automatic acceleration/deceleration vs. Joint #3 position
Height of the shaft
E2C25/35
* The percentage in the graph is based
on the acceleration/deceleration at the
upper-limited position of Joint #3
as 100%.
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
)
NOTE
Summary of Contents for E2C Series
Page 1: ...SCARA ROBOT E2C series MANIPULATOR MANUAL Rev 6 EM069R1409F ...
Page 2: ...MANIPULATOR MANUAL E2C series Rev 6 ...
Page 8: ...vi E2C Rev 6 ...
Page 14: ......
Page 82: ......
Page 92: ...Maintenance 2 General Maintenance 80 E2C Rev 6 ...
Page 118: ...Maintenance 4 Replacing the Cable Unit 106 E2C Rev 6 ...
Page 194: ...Maintenance 11 Replacing the Signal Relay Board 182 E2C Rev 6 ...
