Setup & Operation 4. End Effectors
58 S5 Rev.5
4.4 Precautions for Auto Acceleration/Deceleration
The speed and acceleration / deceleration of the Manipulator motion are automatically
optimized according to the values of WEIGHT and INERTIA and the Manipulator’s
postures.
WEIGHT Setting
The speed and acceleration / deceleration of the Manipulator are controlled according to
the load weight set by the WEIGHT command.
The more the load weight increases, the more the speed and acceleration/deceleration are
reduced to prevent residual vibration.
INERTIA Setting
The acceleration / deceleration of Arm #6 are controlled according to the moment of
inertia set by the INERTIA command. The acceleration / deceleration of the whole
Manipulator are controlled according to the eccentricity set by the INERTIA command.
The more the moment of inertia and eccentricity of the load increase, the more the
acceleration / deceleration are reduced.
Auto Acceleration/Deceleration According to Manipulator’s Posture
The acceleration / deceleration are controlled according to the Manipulator’s posture.
When the Manipulator extends its arms or when the movement of the Manipulator
produces vibration frequently, the acceleration / deceleration are reduced.
Set appropriate values for WEIGHT and INERTIA so that the Manipulator operation is
optimized.
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