Weight And Inertia Settings; Weight Setting - Epson E2C Series Manipulator Manual

4.3 WEIGHT and INERTIA Settings

To ensure optimum Manipulator performance, it is important to make sure that the load
(weight of the end effector and work piece) and moment of inertia of the load are within
the maximum rating for the Manipulator, and that Joint #4 does not become eccentric.
If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow
the steps below, 4.3.1 and 4.3.2, to set parameters.
Setting parameters makes the operation of the Manipulator optimal, reduces oscillation to
shorten the operating time, and improves the capacity for bigger load. In addition, it
reduces persistent oscillation produced when the moment of inertia of the end effector and
work piece is bigger.

4.3.1 WEIGHT Setting

■ The total weight of the end effector and the work piece must be 3 kg or less.
The E2C series Manipulators are not designed to work with loads exceeding
3 kg.
Always set the WEIGHT parameters according to the load. Setting a value that
CAUTION
is smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) in E2C series is 1 kg at the
rating and 3 kg at the maximum. When the load (weight of the end effector and work
piece) exceeds the rating, change the setting of WEIGHT parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system corresponding to the "WEIGHT Parameter" is set automatically.
Load on the Shaft
The load (weight of the end effector and work piece) on the shaft can be set by WEIGHT
parameter.
The method for setting parameter varies with the software used.
Enter the combined total weight of the end effector and work piece into the [Weight:] text
SPEL CT
box on the [WEIGHT] panel ( [Setup] - [Robot Parameters] ).
EPSON RC+ 4.* or before（RC520/RC420）
EPSON
RC+
Enter the combined total weight of the end effector and work piece into the [Weight:] text
box on the WEIGHT panel ( [Project]-[Robot Parameters] ).
You may also execute the Weight command from the [EPSON RC+ Monitor Window].
EPSON RC+ 5.0 or later（RC170）
Enter into the [Weight:] text box on the [Weight] panel ([Tools]-[Robot Manager]).
You may also execute the Weight command from [Command Window].
E2C Rev.6
Setup & Operation 4. Setting of End Effectors
45