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Industrial Robot: SCARA Robots GX series Manual
2.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting
Standard mode
GX4-A25**, GX4-A30**, GX4-A35**
GX4-B25**, GX4-B30**, GX4-B35**
100
100
(%)
100
80
60
40
20
0
0.005
0.01
Moment of inertia setting
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the 0 mm setting.
Boost mode
GX4-A25**, GX4-A30**, GX4-A35**
GX4-B25**, GX4-B30**, GX4-B35**
100
100
(%)
100
80
60
40
20
0
0.005
0.01
Moment of inertia setting
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the 0 mm setting.
2.4.3.2.4 Eccentricity and Inertia Setting
CAUTION
The eccentricity of the load (hand and workpiece) must be 150 mm or less.
The GX4 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 GX4 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.
40
32
25
0.02
0.03
0.04
32
21
16
0.02
0.03
0.04
15
0.05
(kg·㎡)
13
0.05
(kg·㎡)
Rev.7
90
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