Setup & Operation 4. Setting of End Effectors
CAUTION
Eccentric Quantity and the Inertia Setting
■The eccentric quantity of load (weight of the end effector and work piece) must be 150 mm or less. The G3 series Manipulators are not designed to work with eccentric quantity exceeding 150 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, excessive shock, insufficient function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable eccentric quantity of load in G3 series is 0 mm at the default rating and 150 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of Inertia command. After the setting is changed, the maximum acceleration/deceleration speed of the Manipulator at PTP motion corresponding to the “eccentric quantity” is set automatically.
Rotation center
Position of load’s center of gravity
Eccentric quantity (150 mm or less)
Eccentric Quantity
EPSON
RC+
Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can be set by “eccentric quantity” parameter of Inertia command.
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools] - [Robot Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
(%) 120 | 100 |
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| * | The percentage in the graph is |
100 |
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| based on the acceleration / | ||
80 |
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| deceleration at rated eccentricity |
60 |
| 60 |
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| (0 mm) as 100%. |
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| 40 |
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40 |
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| 20 |
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20 |
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| 0 | 50 | 100 | 150 | (mm) Eccentricity setting | |
G3 Rev.1 | 43 |