Epson LS-B Series Manual page 183

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).
LS-B series Rev.5
120
100
100
80
70
60
40
20
0 50 100
Eccentric quantity
parameter (mm)
100
200
Work piece (b)
Whole moment Moment of inertia
=
of inertia of end effector (a)
LS20-B Manipulator 4. Setting of End Effectors
50
25
150 200 (mm)
Automatic acceleration/deceleration
setting by Inertia (eccentric quantity) (%)
0
50
Rotation center
Joint #3 shaft
Moment of inertia
+
of work piece (b)
* The percentage in the
graph is based on the
acceleration / deceleration
at rated eccentricity
(0 mm) as 100%.
Eccentricity setting
100
70
50
25
End effector (a)
Work piece (c)
Moment of inertia
+
of work piece (c)
165