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Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)
*
INERTIA (eccentric quantity) is affected by the load setting. Refer to Setup & Operation
4.3: WEIGHT and INERTIA Settings and configure the load setting carefully.
Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
Whole Moment
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
C series Rev.2
Eccentric Quantity
The
percentage in the graph is based on the acceleration/ deceleration at rated eccentricity (30 mm) as
100%.
Work Piece (b)
Moment of Inertia
=
of Inertia
of End Effector (a)
C4 Manipulator 4. End Effectors
Rotation Center
End Effector (a)
Moment of Inertia
+
of Work Piece (b)
Work Piece (c)
Moment of Inertia
+
of Work Piece (c)
47
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