Eccentricity Of Joint #4 - Epson ES Series Manipulator Manual

Part 1: Setup & Operation

Eccentricity of Joint #4

The eccentricity of Joint #4 (rotation center) and the position of a load's center of gravity
should not be more than 50 mm.
Rotation center
Figure 17. Amount of eccentricity
When the load and joint are eccentric, lower the acceleration/deceleration speed using the
ACCEL command. Using the results of the following table and formula as a guideline, use a
suitable value for the given conditions.
× A
A = A /100 (%)
i h
A :ACCEL setting value
A :ACCEL setting value according to moment of inertia
i
A :ACCEL % according to amount of eccentricity
h
A (%)
h
100
90
80
70
60
50
40
0 10
Figure 18. Eccentricity and ACCEL %
<Example> For a 3kg end effector (and work piece) with a moment of inertia of 0.02kg⋅m
and eccentricity of 40 mm:
WEIGHT 3
A = 0.015/0.02×100=75 (%)
i
A = 60 (%)
h
A = 75×60/100=45 (%)
ACCEL 45,45
Position of load's center of gravity
Amount of eccentricity
(50 mm or less)
20 30 40 50
5. End Effectors
Amount of eccentricity
(mm)
2
29