1.4 Relationship between height of shaft（J3 axis）and acceleration/deceleration speed J3轴行程高度与加减速度的关系

（1）Area in which acceleration/deceleration speed is compensated 加减速速度自动补偿区（图1-9）

Area 1—Area in which speed and acceleration/deceleration speed are not compensated.

在区间1，不能对速度和加减速度进行补偿。

Area 2—Area in which speed and acceleration/deceleration speed are compensated.

在区间2，可以对速度和加减速度进行补偿。

（2）Recommended path when positioning at the bottom edge of the Z axis 定位点在Z轴底部时的推荐路径

Time to reach the position precision：

When using this robot，the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens，take the following measures.

1）Change the operation position of the Z axis to the location near the top as much as possible.

2）Increase the operation speed prior to stopping.

3）When positioning the work near the bottom edge of the Z axis，if no effectiveness is achieved in step “2）”above，perform operation path 1（robot path：O→A→C）. In the case of operation path 2（robot path：O→B→C），residual vibration may occur（refer to Fig. 1-10）.

到达位置精度内的时间：

在使用机器人时，由于停止时残留振动的影响，达到位置精度内的时间有可能变长，此时应执行以下处理。

1）将Z轴的停止位置尽量改为上部位置。

2）提高停止前的动作速度。

3）在Z轴最下端附近进行定位（如图1-10路径2）有振动时，应执行路径1的动作。

路径1：O→A→C。

路径2：O→B→C。

按路径2运行有时会发生残留振动（参阅图1-10）。