Epson LS-B Series Manual page 123

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
LS-B series Rev.5
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
LS10-B Manipulator 4. Setting of End Effectors
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
105