Inertia Setting - Epson LS20 Series Manipulator Manual

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 0.45 kg·m
work with a moment of inertia exceeding 0.45 kg·m
inertia parameter to the correct moment of inertia. Setting a value that is smaller
CAUTION
than the actual moment of inertia may cause 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 LS20 series Manipulator is 0.05 kgm
the default rating and 0.45 kgm
load 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.
Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools]-[Robot
EPSON
RC+
Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia
(%)
LS20 Rev.4
2
". When the Manipulator operates with additional objects (such as an
2
or less. The LS20 series Manipulators are not designed to
120
115
100
100
80
60
40
12.8
20
0 0.10 0.20 0.30 0.40 (kg･m
Setup & Operation 4. Setting of End Effectors
2
at the maximum. When the moment of inertia of the
7.4
2
)
Moment of inertia setting
2
. Always set the moment of
(moment of inertia)
2
at
45