Inertia Setting - Epson E2C Series Manipulator Manual

4.3.2 INERTIA Setting

Moment of Inertia and the INERTIA Setting
The moment of inertia is defined as "the ratio of the torque applied to a rigid body and its;
resistance to motion". This value is typically referred to as "the moment of inertia",
"inertia", or "GD
are attached to the shaft, the moment of inertia of load must be considered.
■ The moment of inertia of load (weight of the end effector and work piece) must be
0.05 kg m
moment of inertia exceeding 0.05 kg m
Always set the moment of inertia (INERTIA) parameter according to the moment
of inertia. Setting a value that is smaller than the actual moment of inertia may
CAUTION
cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life cycle of parts/mechanisms.
The acceptable moment of inertia of load in E2C series is 0.005 kg m
0.05 kg m
change the setting of moment of inertia (INERTIA) parameter of load of INERTIA
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 is corresponding to "moment of inertia" is set automatically.
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can
be set by "moment of inertia (INERTIA)" parameter of INERTIA command.
The method for setting parameter varies with the software used.
Enter the combined total moment of inertia of the end effector and work piece into the
SPEL CT
[Load inertia:] text box on the [INERTIA] panel ( [Setup] – [Robot Parameters] ).
EPSON RC+ 4.* or before（RC520/RC420）
EPSON
RC+
Enter the combined total moment of inertia of the end effector and work piece into the
[Load inertia:] text box on the [INERTIA] panel ( [Project] – [Robot Parameters] ).
You may also execute the INERTIA command from the [EPSON RC+ Monitor Window].
EPSON RC+ 5.0 or later（RC170）
Enter into the [Load inertia:] text box on the [Inertia] panel ([Tools]–[Robot Manager]).
You may also execute the Inertia command from [Command Window].
E2C Rev.6
2
". When the Manipulator operates after objects such as an end effector
2
or less. The E2C series Manipulators are not designed to work with
2
at the maximum. When the moment of inertia of load exceeds the rating,
Setup & Operation 4. Setting of End Effectors
2
.
2
at the rating and
47