Epson SCARA GX Series Manual page 67

Boost mode
GX4-A25**, GX4-A30**, GX4-A35**
(%)
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm
setting being 100%.
Eccentric quantity and the inertia setting
■ The eccentric quantity of load (weight of the end effector and work piece) must be
150 mm or less.
The GX4 series Manipulators are not designed to work with eccentric quantity
exceeding 150 mm. Always set the eccentric quantity parameter according to the
eccentric quantity. Setting a value that is smaller than the actual eccentric quantity
CAUTION
may cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life cycle of parts/mechanisms.
The acceptable eccentric quantity of load in GX4 series is 0 mm at the default rating and
150 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.
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.
Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Eccentricity:].
EPSON
RC+ (You may also execute the Inertia command from [Command Window].)
GX series Rev.2
100 100
100
80
60
32
40
20
0 0.005 0.01
Moment of inertia setting
Rotation center
GX4 Manipulator 4. Setting of End Effectors
21
16
0.02 0.03 0.04
Position of load's center of gravity
Eccentric quantity (150 mm or less)
Eccentric Quantity
13
0.05 (kg･m 2 )
57