Inertia Setting - Epson G3 Series Manual

Setup & Operation 4. Setting of End Effectors
(%) 140
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120
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80
60
40
20
0

4.3.2 Inertia Setting

Moment of Inertia and the Inertia Setting
The moment of inertia is defined as "the ratio of the torque applied to a rigid body and its
resistance to motion". This value is typically referred to as "the moment of inertia",
"inertia", or "GD
end effector) attached to the shaft, the moment of inertia of load must be considered.
■ The moment of inertia of the load (weight of the end effector and work piece)
must be 0.05 kgm
work with a moment of inertia exceeding 0.05 kgm
Always set the moment of inertia parameter to the correct moment of inertia.
Setting a value that is smaller than the actual moment of inertia may cause
CAUTION
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms.
The acceptable moment of inertia of load for a G3 series Manipulator is 0.005 kgm
default rating and 0.05 kgm
exceeds the rating, change the setting of the moment of inertia parameter of the Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 at PTP motion corresponding to the "moment of inertia" value is set
automatically.
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can
be set by the "moment of inertia" parameter of the Inertia command.
EPSON
Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools]-[Robot
RC+
Manager]). (You may also execute the Inertia command from the [Command Window].)
56
100
90
1 1.5 2
2
". When the Manipulator operates with additional objects (such as an
2
or less. The G3 series Manipulators are not designed to
2
at the maximum. When the moment of inertia of the load
* The percentage in the graph is
based on the acceleration
/ deceleration at rated weight
(1 kg) as 100%.
70
2.5 3 (kg)
Weight setting
2
.
G3-35***
2
at the
G3 Rev.14