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 | |||
|---|---|---|---|---|
| 30kg or less | 40kg or less | 50kg or less | ||
| 0>Z≥-400 | 14000 or less | 5000 or less | 5000 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