ACCELS Setting for CP Motions
To make the Manipulator move in a CP motion, make the appropriate ACCELS settings in the SPEL program based on the tip load and Z-axis height.
KEY POINTS
If the ACCELS settings are not properly configured, the following problem occurs.
- Shortened lifespan and damage to the ball screw spline
- Stop with error (Error code: 4002)
Set ACCELS as shown below based on the Z-axis height.
Maximum ACCELS correction values by Z-axis height and tip load
- LA3-A
| Z-axis height (mm) | Tip load |
|---|---|
| 3kg or less | |
| 0>=Z >= - 150 | 25000 or less |
- LA6-A
| Z-axis height (mm) | Tip load | |
|---|---|---|
| 4kg or less | 6kg or less | |
| 0>=Z >= - 150 | 25000 or less | 25000 or less |
| - 150 > Z >= - 200 | 23000 or less | |
| Symbol | Description |
|---|---|
| a | Z-axis height 0 (Origin position) |
If the Manipulator is operated in CP motion with the wrong set values, make sure to check the following.
- No deformation or bending of the shaft of the ball screw spline