Epson LS-B Series Manual page 66

LS3-B LS6-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
LS3-B: 100mm, LS6-B: 150 mm or less. The LS-B series Manipulators are not
designed to work with eccentric quantity exceeding LS3-B: 100mm, LS6-B: 150
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 LS-B series Manipulator:
LS3-B: default rating: 0 mm, maximum: 100 mm
LS6-B: default rating: 0 mm, maximum: 150 mm
When the eccentric quantity of load exceeds the rating, change the setting of eccentric
quantity parameter of Inertia command.
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].)
48
Also, the life cycle of parts is shortened and
After the setting is changed, the maximum
Rotation center
Position of load's center of gravity
Eccentric quantity
LS-B series Rev.5