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T3-B T6-B Manipulator 4. Setting of End Effectors
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
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 T3-B: 0.01 kg·m
not designed to work with a moment of inertia exceeding T3-B: 0.01 kg·m
0.08 kg·m
value that is smaller than the actual load may cause errors, excessive shock and
CAUTION
insufficient function of the Manipulator. Also, the life cycle of parts is shortened
and positional gap due to belt tooth bumping occurs.
The acceptable moment of inertia of load for a T-B series Manipulator:
T3-B: default rating 0.003 kg·m
T6-B: default rating 0.01 kg·m
When the moment of inertia of the 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
T3-B
(%)
72
2
". When the Manipulator operates with additional objects (such as an end effector)
2
/ T6-B: 0.08 kg·m
2
. Always set the Weight parameters according to the load. Setting a
120
100
100
100
80
60
40
20
0 0.002 0.004 0.006 0.008 0.01
2
or less. The T-B series Manipulators are
2
, the maximum 0.01 kg·m
2
, the maximum 0.08 kg·m
75
30
0.012
Inertia moment parameter
/ T6-B:
2
2
2
(moment of inertia)
(kg·m
2
)
T-B series Rev.1
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