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
GX10-B/GX10-C
| Z-axis Height (mm) | Tip Load | |
|---|---|---|
| 5 kg or Less | 10 kg or Less | |
| 0 > Z ≥ -100 | 25000 or less | 18000 or less |
| -100 > Z ≥ -200 | 11000 or less | |
| - 200 > Z ≥ -300 | 15000 or less | 7500 or less |
| - 300 > Z ≥ -420 | 11000 or less | 5500 or less |
GX20-B/GX20-C
| Z-axis Height (mm) | Tip Load | |||
|---|---|---|---|---|
| 5 kg or less | 10 kg or less | 15 kg or less | 20 kg or less | |
| 0 > Z ≥ -100 | 25000 or less | 18000 or less | 12000 or less | 9000 or less |
| - 100 > Z ≥ -200 | 11000 or less | 7000 or less | 5500 or less | |
| - 200 > Z ≥ -300 | 15000 or less | 7500 or less | 5000 or less | 3500 or less |
| - 300 > Z ≥ -420 | 11000 or less | 5500 or less | 3500 or less | 2500 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