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Industrial Robot: SCARA Robots GX series Manual
GX20-B Series
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (10 kg) setting.
4.4.3.2 Inertia Setting
4.4.3.2.1 Moment of Inertia and Inertia Setting
The moment of inertia is a quantity that expresses how hard it is for an object to turn, and it is expressed in terms of values for
the moment of inertia, inertia, or GD
of the load must be taken into consideration.
CAUTION
GX10-B Series
The moment of inertia of the load (weight of the hand and workpiece) must be 0.25 kg·m
B series Manipulators are not designed to work with a moment of inertia exceeding 0.25 kg·m
GX20-B Series
The moment of inertia of the load (weight of the hand and workpiece) must be 0.45 kg·m
B series Manipulators are not designed to work with a moment of inertia exceeding 0.45 kg·m
the value corresponding to the moment of inertia. Setting a parameter value that is smaller than the actual
moment of inertia may cause errors or impact, may prevent the Manipulator from working at full functionality,
and may shorten the lifespan of mechanical parts.
The allowable moment of inertia of a load for a GX10-B series/GX20-B series Manipulator is as follows.
Rated
GX10-B series
0.02 kg·m
GX20-B series
0.05 kg·m
When the moment of inertia of the load exceeds the rating, change the setting of the moment of inertia parameter for the load
in the Inertia statement. After the setting is changed, the maximum acceleration/deceleration of Joint #4 during PTP motion
that corresponds to the "Inertia" value is corrected automatically.
4.4.3.2.2 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.
2
. When a hand or other object is attached to a shaft for operation, the moment of inertia
Max.
2
2
0.25 kg·m
2
2
0.45 kg·m
Rev.7
2
or less. The GX10-
2
.
2
or less. The GX20-
2
. Always set
330
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