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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.
NOTE
Improper setting may cause following problems.
Set ACCELS as follows according to the Z-axis height.
LS3
LS6
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following points.
LS Rev.10
- Decline in the life and damage of the ball screw spline
ACCELS setting values by Z-axis height and tip load
Z-axis height
(mm)
__-
0 > Z >= _- 50
_- 50 > Z >= - 100
- 100 > Z >= - 150
Z-axis height
(mm)
__-
0 > Z >= _- 50
_- 50 > Z >= - 100
- 100 > Z >= - 150
- 150 > Z >= - 200
Z-axis height 0
(Origin position)
- Whether or not the ball screw spline shaft is deformed or bent
1 kg or less
2 kg or less
25000 or less
25000 or less
22500 or less
17500 or less
2 kg or less
4 kg or less
25000 or less
25000 or less
17500 or less
15000 or less
Z
Setup & Operation 1. Safety
Tip load
3 kg or less
22500 or less
15000 or less
10000 or less
Tip load
6 kg or less
25000 or less
15000 or less
12500 or less
10000 or less
13
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