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Industrial Robot: SCARA Robots GX series Manual
3.4.3.2.2 Moment of Inertia of Load Attached to Shaft
The moment of inertia of the load (hand + workpiece) attached to the shaft can be set by the "Inertia" parameter in the Inertia
statement.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Inertia] panel, and enter the value in [Inertia].
This can also be set using the Inertia statement in [Command Window].
3.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting
Standard mode, boost mode
GX8-A45***, GX8-A55***, GX8-A65***
GX8-B45***, GX8-B55***, GX8-B65***
100
100
(%)
100
80
60
40
20
0
0.02
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the 0 mm setting.
3.4.3.2.4 Eccentricity and Inertia Setting
CAUTION
The eccentricity of the load (hand and workpiece) must be 150 mm or less. The GX8 series Manipulators are
not designed to work with eccentricities exceeding 150 mm. Always set the value based on the eccentricity.
Setting the eccentricity parameter to a value smaller than the actual eccentricity may cause errors or impact
that not only impair full functionality but also shorten the life of the mechanical components.
The allowable eccentricity of load for GX8 series Manipulators is 0 mm at the default rating and 150 mm at the maximum.
When the load eccentricity exceeds the rating, change the setting for the eccentricity parameter in Inertia statement. After the
setting is changed, the maximum acceleration/deceleration of the Manipulator during PTP motion that corresponds to the
"Eccentricity" is corrected automatically.
41
17
0.04
0.06
0.08
Moment of inertia setting
9
0.10
0.12
0.14
6
(kg·㎡)
0.16
Rev.7
226
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