Inertia Setting - Epson C8 Series Manipulator Manual

Setup & Operation 4. End Effectors

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 0.15 kg·m
inertia moment exceeding 0.15 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 C8 series Manipulators is 0.03 kgm
rating and 0.15 kgm
the inertia moment of the load using the INERTIA command. After the setting has been
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].
54
This value is typically referred to as "the moment of inertia",
". When the Manipulator operates with objects such as an end effector
2
or less. The C8 series Manipulators are not designed to work with
2
2 maximum. Change the setting of the inertia moment according to
.
2
nominal
2
C8 Rev.13