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Industrial Robot: SCARA Robots GX series Manual
GX8-A55***, GX8-B55***
136 136
(%)
140
120
100
80
60
40
20
0
1
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting.
GX8-A65***, GX8-B65***
(%)
140
120 120
120
100
80
60
40
20
0
1
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting.
3.4.3.2 Inertia Setting
3.4.3.2.1 Moment of Inertia and Inertia Setting
The moment of inertia is a quantity that expresses how hard it is for an object to turn, and it is expressed in terms of values for
the moment of inertia, inertia, or GD
of the load must be taken into consideration.
CAUTION
The moment of inertia of the load (weight of the hand and workpiece) must be 0.16 kg·m
series Manipulators are not designed to work with a moment of inertia exceeding 0.16 kg·m
value corresponding to the moment of inertia. Setting a parameter value that is smaller than the actual
moment of inertia may cause errors or impact, may prevent the Manipulator from working at full functionality,
and may shorten the lifespan of mechanical parts.
The allowable moment of inertia of a load for GX8 series Manipulators is 0.01 kg·m
the maximum. When the moment of inertia of the load exceeds the rating, change the setting of the moment of inertia
parameter for the load in the Inertia statement. After the setting is changed, the maximum acceleration/deceleration of Joint #4
during PTP motion that corresponds to the "Inertia" value is corrected automatically.
136
100
2
3
4
Weight setting
120
100
2
3
4
Weight setting
2
. When a hand or other object is attached to a shaft for operation, the moment of inertia
85
5
6
7
62
5
6
7
49
8
(kg)
43
8
(kg)
2
or less. The GX8
2
. Always set the
2
at the default rating and 0.16 kg·m
Rev.7
2
at
225
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