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Industrial Robot: SCARA Robots GX series Manual
Eccentricity
Symbol
Description
a
Rotation axis
b
Load center of gravity position
c
Eccentricity (200 mm or less)
4.4.3.2.5 Eccentricity of Load Attached to Shaft
The eccentricity of the load (hand + workpiece) attached to the shaft can be set by the "Eccentricity" parameter in the Inertia
statement.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Inertia] panel, and enter the value in [Eccentricity].
This can also be set using the Inertia statement in [Command Window].
4.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting
GX10-B/GX20-B series
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the 0 mm setting.
4.4.3.2.7 Calculating the Moment of Inertia
An example of calculating the moment of inertia of a load (hand holding a workpiece) is shown below.
Rev.7
332
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