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Setup & Operation 4. Setting of End Effectors
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
(%)
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load (end
effector with work piece). The moment of inertia of the entire load is calculated by the
sum of each part (a), (b), and (c).
40
120
100
100
80
60
60
40
20
0
50
Eccentric quantity
parameter (mm)
0
50
100
200
Workpiece (b)
Whole moment
Moment of inertia
=
of inertia
of end effector (a)
26
15
100
150
200
Automatic acceleration/deceleration
setting by Inertia (eccentric quantity) (%)
Rotation center
Joint #3 shaft
+
* The percentage in the
graph is based on the
acceleration /
deceleration at rated
eccentricity
(0 mm) as 100%.
250 (mm)
Eccentricity setting
100
60
26
15
End effector (a)
Workpiece (c)
Moment of inertia
+
of work piece (b)
LS10-B Rev.6
Moment of inertia
of work piece (c)
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