Automatic Acceleration/Deceleration Correction Of Joint #4 At Inertia (Moment Of Inertia) Setting; Eccentricity And Inertia Setting - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual
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].

4.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting

GX10-B Series
GX20-B Series

4.4.3.2.4 Eccentricity and Inertia Setting

CAUTION
The eccentricity of the load (hand and workpiece) must be 200 mm or less. GX10-B series and GX20-B
series Manipulators are not designed to work with eccentricities exceeding 200 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 load eccentricity for GX10-B series and GX20-B series Manipulators is 0 mm at the default rating and 200 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.
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