Epson G3 Series Manual page 70

Setup & Operation 4. Setting of End Effectors
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.
EPSON
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools] - [Robot
RC+
Manager]). (You may also execute the Inertia command from the [Command Window].)
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).
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.
58
120
100
100
80
60
60
40
20
0 50
Work piece (b)
Whole moment
Moment of inertia
=
of inertia of end effector (a)
* The percentage in the graph is
based on the acceleration /
deceleration at rated eccentricity
(0 mm) as 100%.
40
20
100 150 (mm)
Rotation center
Joint #3 shaft
Moment of inertia
+
of work piece (b)
Eccentricity setting
End effector (a)
Work piece (c)
Moment of inertia
+
of work piece (c)
G3 Rev.14