Epson LS-B Series Manual page 182

LS20-B Manipulator 4. Setting of End Effectors
Eccentric Quantity and the Inertia Setting
■ The eccentric quantity of load (weight of the end effector and workpiece) must be
200 mm or less. The LS20-B series Manipulators are not designed to work with
eccentric quantity exceeding 200 mm.
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 eccentric quantity of load in LS20-B series is 0 mm at the default rating and
200 mm at the maximum. When the eccentric quantity of load exceeds the rating, change
the setting of eccentric quantity parameter of Inertia command.
changed, the maximum acceleration/deceleration speed of the Manipulator at PTP motion
corresponding to the "eccentric quantity" is set automatically.
Eccentric Quantity
Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can
be set by "eccentric quantity" parameter of Inertia command.
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools]-[Robot
EPSON
RC+
Manager]). (You may also execute the Inertia command from the [Command Window].)
164
Also, the life cycle of parts is shortened and
Rotation center
Position of load's center of gravity
Eccentric quantity
After the setting is
LS-B series Rev.5