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
| Z-axis height(mm) | Tip load | |||
|---|---|---|---|---|
| 5kg or less | 10kg or less | 15kg or less | 20kg or less | |
| 0>Z≥-100 | 10000 or less | 10000 or less | 10000 or less | 9000 or less |
| -100>Z≥-200 | 7000 or less | 5500 or less | ||
| -200>Z≥-300 | 7500 or less | 5000 or less | 3500 or less | |
| -300>Z≥-420 | 5500 or less | 3500 or less | 2500 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.
- Whether or not the ball screw spline shaft is deformed or bent