Inertia Setting - Epson SCARA GX Series 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
attached to the shaft, the moment of inertia of load must be considered.
■ The moment of inertia of the load (weight of the end effector and work piece) must
be 0.16 kg·m
a moment of inertia exceeding 0.16 kg·m
Always set the moment of inertia parameter to the correct moment of inertia.
Setting a value that is smaller than the actual moment of inertia may cause errors,
CAUTION
excessive shock, insufficient function of the Manipulator, and/or shorten the life
cycle of parts/mechanisms.
The acceptable moment of inertia of load for a GX8 series Manipulator is 0.01 kg·m
default rating and 0.16 kg·m
exceeds the rating, change the setting of the moment of inertia parameter of the Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 at PTP motion corresponding to the "moment of inertia" value 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 the "moment of inertia" parameter of the Inertia command.
Enter a value into the [Weight:] text box on the [Weight] panel ([Tools]-[Robot Manager]).
EPSON
RC+
(You may also execute the Weight command from the [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia
Standard mode, Boost mode
GX8-A45**, GX8-A55**, GX8-A65**
(%)
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm setting is 100%.
GX series Rev.2
2 ". When the Manipulator operates with additional objects (such as an end effector)
2 or less. The GX8 series Manipulators are not designed to work with
100
100
100
80
60
41
40
20
0 0.02 0.04 0.06 0.08 0.10 0.12 0.14 0.16 (kg･m
GX8 Manipulator 4. Setting of End Effectors
.
2
2 at the maximum. When the moment of inertia of the load
17
Moment of inertia setting
(moment of inertia)
9
6
at the
2
2 )
155