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C12 Manipulator 4. End Effectors
Automatic speed setting by Weight parameter
The percentages in the graphs are based on the speed at rated weight (3 kg) as 100%.
(%)
140
120
100
100
80
60
40
20
0
0
1
Maximum AccelS setting value varies depending on Weight setting value. For more details,
NOTE
refer to "Appendix A: Specifications Table".
4.3.2 INERTIA setting
Inertia Moment and the INERTIA Setting
The inertia moment is defined as "the ratio of the torque applied to a rigid body and its
resistance to motion".
"inertia", or "GD
attached to the Arm #6, the moment of inertia of load must be considered.
■ The inertia moment of the load (weight of the end effector and work piece) must
be 0.2 kg·m
inertia moment exceeding 0.2 kg·m
Always set the inertia moment (INERTIA) parameter according to the inertia
moment. Setting a value that is smaller than the actual inertia moment may
CAUTION
cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life of parts/mechanisms.
The acceptable inertia moment of load for C12 series Manipulators is 0.03 kg·m
rating and 0.2 kg·m
inertia moment of the load using the INERTIA command.
changed, the maximum acceleration/deceleration speed of Arm #6 responding to "inertia
moment" is set automatically.
Inertia moment of load on Arm #6
The inertia moment of the load (weight of the end effector and work piece) on the Arm #6
can be set by the "inertia moment (INERTIA)" parameter of the INERTIA command.
Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:].
EPSON
RC+
You may also execute the Inertia command from [Command Window].
206
120
105
100
100
100
80
2
3
4
5
6
This value is typically referred to as "the moment of inertia",
". When the Manipulator operates with objects such as an end effector
2
2
or less. The C12 series Manipulators are not designed to work with
maximum. Change the setting of the inertia moment according to the
2
100
80
60
48
7
8
9
10 11 12
.
2
Acceleration / Deceleration
加速度補正[%]
速度補正[%]
Speed
(kg) Weight Parameter
(kg) ハンド重量
After the setting has been
C series Rev.2
nominal
2
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