Epson LS-B Series Manual page 181

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
(%) 180
160
140
120
100
80
60
40
20
0
LS-B series Rev.5
160
100
28.6
0.10 0.20 0.30 0.40
Moment of inertia
setting (kg·m 2 )
0.01
0.05
0.15
1.00
LS20-B Manipulator 4. Setting of End Effectors
0.50 0.60 0.70 0.80 0.90
Automatic acceleration/deceleration setting of
Joint #4 by Inertia
160
100
28.6
(moment of inertia)
7.1
1.00 (kg·m
Moment of inertia setting
(%)
(moment of inertia)
7.1
2 )
163