Epson G20 series Manipulator Manual page 85

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].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
G10 series and G20 series
(%)
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).
G10 / G20 Rev.20
120
100
100
80
70
60
40
20
0 50
Work piece (b)
Whole moment Moment of inertia
=
of inertia
of end effector (a)
Setup & Operation 4. Setting of End Effectors
50
25
100 150 200 (mm)
Rotation center
Joint #3 shaft
Moment of inertia
+
of work piece (b)
* The percentage in the graph is
based on the acceleration /
deceleration at rated
eccentricity (0 mm) as 100%.
Eccentricity setting
End effector (a)
Work piece (c)
Moment of inertia
+
of work piece (c)
73