Epson G20 Series User Manual

Setup & Operation 1. Safety
G10 / G20 Rev.20 13
1.6 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the tip load and the Z-axis height.
Improper setting may cause following problems.
Reduction of the life and damage of the ball screw spline
Set ACCELS as follows according to the Z-axis height.
ACCELS setting value by Z-axis position and tip load
G10
Z position
(mm)
Tip load
5kg or less
10kg or less
__- 0 > Z >= - 100
25000 or less
18000 or less
_-100 > Z >= - 200
11000 or less
- 200 > Z >= - 300
15000 or less
7500 or less
- 300 > Z >= - 420
11000 or less
5500 or less
G20
Z position
(mm)
Tip load
5kgor less
10kgor less
15kgor less
20kgor less
__- 0 > Z >= - 100
25000 or less
18000 or less
12000 or less
9000 or less
_-100 > Z >= - 200
11000 or less
7000 or less
5500 or less
- 200 > Z >= - 300
15000 or less
7500 or less
5000 or less
3500 or less
- 300 > Z >= - 420
11000 or less
5500 or less
3500 or less
2500 or less
Z
Z-axis height 0
(Origin point)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
Whether the ball screw spline shaft is deformed or bent

NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English