Epson E2C Series Manipulator Manual page 61

Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can
be set by "eccentric quantity" parameter of INERTIA command.
The method for setting parameter varies with the software used.
Enter the combined total eccentric quantity of the end effector and work piece into the
SPEL CT
[Eccentricity:] text box on the [INERTIA] panel ( [Setup] – [Robot Parameters] ).
EPSON RC+ 4.* or before（RC520/RC420）
EPSON
RC+
Enter the combined total eccentric quantity of the end effector and work piece into the
[Eccentricity:] text box on the [INERTIA] panel ( [Project] – [Robot Parameters] ).
You may also execute the INERTIA command from the [EPSON RC+ Monitor Window].
EPSON RC+ 5.0 or later（RC170）
Enter into the [Eccentricity:] text box on the [Inertia] panel ([Tools]–[Robot Manager]).
You may also execute the Inertia command from [Command Window].
Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)
E2C25
* The percentage in the graph is based on the speed at rated eccentricity (0 mm) as 100%.
E2C Rev.6
Setup & Operation 4. Setting of End Effectors
Eccentricity setting Eccentricity setting
E2C35
49