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C4 Manipulator 4. End Effectors
Eccentric Quantity and the INERTIA Setting
■ The eccentric quantity of the load (weight of the end effector and work piece) must
be 200 mm or less. The C4 Manipulators are not designed to work with eccentric
quantity exceeding 200 mm.
Always set the eccentric quantity parameter according to the eccentric quantity.
Setting a value that is smaller than the actual eccentric quantity may cause errors,
CAUTION
excessive shock, insufficient function of the Manipulator, and/or shorten the life
cycle of parts/mechanisms.
The acceptable eccentric quantity of the load for C4 Manipulators is 30 mm at nominal
rating and 200 mm at maximum. When the eccentric quantity of the load exceeds the
rating, change the setting of eccentric quantity parameter using the INERTIA command.
After changing the setting, the maximum acceleration/deceleration speed of Manipulator
corresponding to "eccentric quantity" is set automatically.
Eccentric quantity of load on Arm #6
The eccentric quantity of the load (weight of the end effector and work piece) on the Arm
#6 can be set by the "eccentric quantity" parameter of the INERTIA command.
Enter the larger value of either "a" or "b" in the figure above to [Eccentricity].
Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:].
EPSON
RC+
You may also execute the Inertia command from [Command Window].
46
Rotation Center
a
Flange
Position of Load's Center of Gravity
Eccentric Quantity
a, b = Eccentric Quantity
(200 mm or less)
To set the parameter, enter
the larger value of "a" or "b".
C series Rev.2
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