Table of Contents
Advertisement
Industrial Robot: SCARA Robots GX series Manual
4.4.3 Weight and Inertia Settings
To ensure that the Manipulator is functioning properly, keep the load (the sum of the weights of the hand and workpiece) and
the moment of inertia of the load within the rated values, and do not allow for eccentricity from the center of the Joint #4. If,
for some unavoidable reason, the load or moment of inertia exceeds the rated value, or if eccentricity occurs, configure
parameters as described in the "Weight setting" and "Inertia setting."
These settings optimize the Manipulator's PTP motion, reduce vibration, and shorten operation times. This also works to curb
any persistent vibration that may occur when the hand and workpiece have a large moment of inertia.
You can also perform settings using the "Weight, Inertia, and Eccentricity/Offset Measurement Utility".
For details, refer to the following manual:
"EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/Offset Measurement Utility"
4.4.3.1 Weight Setting
CAUTION
GX10-B Series
The total weight of the hand and the workpiece must not exceed 10 kg. The GX10-B Manipulators are not
designed to work with loads exceeding 10 kg.
GX20-B Series
The total weight of the hand and the workpiece must not exceed 20 kg. The GX20-B series Manipulators are
not designed to work with loads exceeding 20 kg. Always set the value according to the load. Setting the
hand weight parameter to a value smaller than the actual weight may cause errors or impact that not only
impair full functionality but also shorten the life of the mechanical components.
For the GX10-B series/GX20-B series, the allowable load (hand weight and workpiece weight) is as shown below.
Rated
GX10-B series
5 kg
GX20-B series
10 kg
When the load weight exceeds the rating, change the setting for the hand weight parameter in the Weight statement. After the
setting is changed, the maximum speed and acceleration/deceleration of the Manipulator during PTP motion that correspond to
the "Hand Weight" are corrected automatically.
4.4.3.1.1 Weight of Load Attached to Shaft
The weight of the load (hand + workpiece) attached to the shaft can be set by the "Hand Weight" parameter in the Weight
statement.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Weight] panel, and enter the value in the [Weight] text box. (This can also be set using the
Weight statement in [Command Window].)
4.4.3.1.2 Weight of Load Attached to Arm
When a camera, valve, or other object is attached to the arm, its weight is converted to the equivalent weight of the shaft and
added to the load weight to set the "Hand Weight" parameter.
Max.
10 kg
20 kg
Rev.7
327
Advertisement
Table of Contents
