Precautions for Auto Acceleration/Deceleration of Joint #3

When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster.

If the shaft height is less than a certain value while performing horizontal movement in PTP motion, the auto acceleration function is activated, and the acceleration/deceleration of the movement is set slower for lower shaft heights (Refer to the table below). The higher the position of the shaft is, the faster the motion acceleration/deceleration is. However, the up movement time and down movement time of the shaft are also required. Adjust the position of Joint #3 for the Manipulator motion after considering the relation between the current position and the destination position.

The upper limit of Joint #3 during horizontal motion using Jump command can be set by the LimZ command.