ACCELS Setting for CP Motion
To make the Manipulator move in CP motion, set ACCELS properly in the SPEL program according to the tip load and the Z-axis height.
KEY POINTS
If the ACCELS settings are not properly configured, the following problem may occur.
- Shortened lifespan and damage to the ball screw spline
Set ACCELS as shown below based on the Z-axis height.
ACCELS setting values by the Z-axis height and tip load
| Z-axis Height (mm) | Tip Load | ||
|---|---|---|---|
| 4 kg or Less | 6 kg or Less | 8 kg or Less | |
| 0 > Z ≥ -100 | 25000 or less | 25000 or less | 23500 or less |
| - 100 > Z ≥ -200 | 23000 or less | 16000 or less | |
| - 200 > Z ≥ -330 | 16000 or less | 11500 or less | |
| Symbol | Description |
|---|---|
| a | Z-axis height 0 (origin position) |
Also, if a CP motion was performed with incorrect values set, check the following point.
- No deformation or bending of the shaft of the ball screw spline