Weight And Inertia Settings; Weight Setting - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual
Ceiling mounting specifications (Units: mm)

3.4.3 Weight and Inertia Settings

To ensure that the Manipulator is functioning properly, keep the load (the sum of the weights of the hand and workpiece) and
the moment of inertia of the load within the rated values, and do not allow for eccentricity from the center of the Joint #4. If,
for some unavoidable reason, the load or moment of inertia exceeds the rated value, or if eccentricity occurs, configure
parameters as described in the "Weight setting" and "Inertia setting."
These settings optimize the Manipulator's PTP motion, reduce vibration, and shorten operation times. This also works to curb
any persistent vibration that may occur when the hand and workpiece have a large moment of inertia.
You can also perform settings using the "Weight, Inertia, and Eccentricity/Offset Measurement Utility".
For details, refer to the following manual:
"EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/Offset Measurement Utility"

3.4.3.1 Weight Setting

CAUTION
The total weight of the hand and the workpiece must not exceed 8 kg. The GX8 series Manipulators are not
designed to work with loads exceeding 8 kg. Always set the value according to the load. Setting the hand
weight parameter to a value smaller than the actual weight may cause errors or impact that not only impair full
functionality but also shorten the life of the mechanical components.
Rev.7
219