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Setup & Operation 4. Setting of End Effectors
Eccentric Quantity and the Inertia Setting
■ The eccentric quantity of load (weight of the end effector and work piece) must be
200 mm or less. The G10 series and G20 series Manipulators are not designed
to work with eccentric quantity exceeding 200 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 G10 series and G20 series Manipulators is 0
mm at the default rating and 200 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.
72
Rotation center
Position of load's center of gravity
Eccentric quantity (200 mm or less)
Eccentric Quantity
G10 / G20 Rev.20
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