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.

Automatic Acceleration/Deceleration Correction by Shaft Position

GX10-B/GX10-C/GX20-B/GX20-C Series

The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position.

KEY POINTS

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Horizontal movement with the shaft lowered may cause overshooting during positioning.