Inertia Setting - Epson LS-B Series Manual

LS3-B LS6-B Manipulator 4. Setting of End Effectors

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 LS3-B: 0.05 kg·m
are not designed to work with a moment of inertia exceeding LS3-B: 0.05 kg·m
LS6-B: 0.12 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 LS-B series Manipulator is
LS3-B: Default rating: 0.005 kg·m
LS6-B: Default rating: 0.01 kg·m
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.
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].)
46
This value is typically referred to as "the moment of inertia",
". When the Manipulator operates with additional objects (such as an
2
2 , LS6-B: 0.12 kg·m
2 .
Also, the life cycle of parts is shortened and
Maximum: 0.05 kg·m
2
2 Maximum: 0.12 kg·m
2 or less. The LS-B series Manipulators
2
2
2 ,
LS-B series Rev.5