Weight And Inertia Settings - Epson C Series Manual

C4 Manipulator 4. End Effectors

4.3 WEIGHT and INERTIA Settings

The WEIGHT and INERTIA commands are for setting the load parameters of the
Manipulator. These settings optimize the Manipulator motion.
WEIGHT Setting
The WEIGHT command is for setting the load weight. The more the load weight increases,
the more the speed and acceleration/deceleration are reduced.
INERTIA Setting
The INERTIA command is for setting the inertia moment and the eccentricity of the load.
The more the inertia moment increases, the more the acceleration and deceleration of the
Arm #6 are reduced. The more the eccentricity increases, the more the acceleration and
deceleration for the Manipulator movement are reduced.
To ensure optimum Manipulator performance, make sure that the load (weight of the end
effector and work piece) and inertia moment of the load are within the maximum rating for
the Manipulator, and that Arm #6 does not become eccentric.
If the load or the inertia moment exceeds the ratings or if the load becomes eccentric, follow
the steps in "4.3.1 WEIGHT Setting" and "4.3.2 INERTIA Setting", to set parameters.
Setting parameters makes the operation of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads.
reduces persistent vibration produced when the inertia moment of the end effector and work
piece is bigger.
The allowable load for C4 series Manipulators is as follows:
Up to 4 (5) kg*
Due to the limitations shown in the tables below, the moment and the inertia moment should
also meet these conditions.
If force is applied to the Manipulator instead of weight, it should not exceed the values
shown in the table below.
* If the payload exceeds the maximum payload, refer to the section "Restriction on
Allowable Load
* The allowable load for Arm #5 are calculated as follows:
38
payload exceeding the maximum payload" in "4.3.1 WEIGHT Setting".
Joint Allowable Moment
#4 4.41 N·m (0.45 kgf·m)
#5 * 4.41 N·m (0.45 kgf·m)
#6 2.94 N·m (0.3 kgf·m)
Distance from the center of Arm #5 rotation (Figure: a + 65 [mm]).
GD 2 /4 Allowable Moment of Inertia
0.15 kg·m
0.15 kg·m
0.1 kg·m
2
In addition, it
2
2
C series Rev.2