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Setup & Operation 4. Setting of End Effectors
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 the "moment of inertia" parameter of the Inertia command.
Enter a value into the [Load inertia:] 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 of Joint #4 by Inertia
(%)
120
100
80
60
40
20
38
113
100
60
30
0
0.05
0.1 0.15
Moment of inertia
setting (kg·m
2
)
0.01
0.02
0.05
0.1
0.3
10
0.2 0.25
0.3 (kg·m
Automatic acceleration/deceleration setting of
Joint #4 by Inertia
113
100
(moment of inertia)
2
)
Moment of inertia setting
(%)
(moment of inertia)
60
30
10
LS10-B Rev.6
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