Epson G3 Series Manual page 69

Automatic acceleration/deceleration setting of Joint #4 by Inertia
(%) 120
100
80
60
40
20
(%) 120
100
80
60
40
20
Eccentric Quantity and the Inertia Setting
■ The eccentric quantity of load (weight of the end effector and work piece) must be
150 mm or less. The G3 series Manipulators are not designed to work with
eccentric quantity exceeding 150 mm.
Always set the eccentric quantity parameter according to the eccentric quantity.
Setting a value that is smaller than the actual eccentric quantity may cause
CAUTION
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms.
The acceptable eccentric quantity of load in G3 series is 0 mm at the default rating and
150 mm at the maximum. When the eccentric quantity of load exceeds the rating, change
the setting of eccentric quantity parameter of Inertia command. After the setting is
changed, the maximum acceleration/deceleration speed of the Manipulator at PTP motion
corresponding to the "eccentric quantity" is set automatically.
G3 Rev.14
100 100
80
0 0.005 0.01 0.02 0.03 0.04 0.05 (kg･m
100
100
80
0 0.005 0.01 0.02 0.03 0.04 0.05 (kg･m
Rotation center
Setup & Operation 4. Setting of End Effectors
50
30
50
30
Position of load's center of gravity
Eccentric quantity (150 mm or less)
Eccentric Quantity
(moment of inertia)
2
)
Moment of inertia setting
G3-35***
2
)
Moment of inertia setting
57