Inertia Setting - Epson LS-B Series Manual

LS10-B Manipulator 4. Setting of End Effectors
Automatic acceleration/deceleration setting by Weight
(%)
180
160
140
120
100
80
60
≈
0

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".
"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 workpiece) must
be 0.30 kg·m
with a moment of inertia exceeding 0.30 kg·m
Always set the Weight parameters according to the load. Setting a value that is
CAUTION smaller than the actual load may cause errors, excessive shock and insufficient
function of the Manipulator.
positional gap due to belt tooth bumping occurs.
The acceptable moment of inertia of load for a LS10-B series Manipulator is
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.
104
170
164
160
150
125
100
2 4 6 8
Automatic acceleration/deceleration setting by Weight (%)
End effector
weight (kg) LS10-B60**
0
1
2
5
8
10
This value is typically referred to as "the moment of inertia",
2 ". When the Manipulator operates with additional objects (such as an
2 or less. The LS10-B series Manipulators are not designed to work
Default rating: 0.02 kg·m
Maximum: 0.30 kg·m 2
75
60
64
51
10 12 (kg)
LS10-B70**
170
164
125
100
75
60
.
2
Also, the life cycle of parts is shortened and
2
* The percentage in the graph
is based on the
acceleration/ deceleration at
rated weight
LS10-B60**
LS10-B70**
LS10-B80**
Weight setting
LS10-B80**
160 160
150 150
125 125
100 100
64 75
51 60
LS-B series Rev.5