Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 47
4.3 Weight and Inertia Settings
To ensure optimum Manipulator performance, it is important to make sure that the load
(weight of the end effector and work piece) and moment of inertia of the load are within
the maximum rating for the Manipulator, and that Joint #4 does not become eccentric.
If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow
the steps below, “4.3.1Weight 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. In addition, it
reduces persistent vibration produced when the moment of inertia of the end effector and
work piece is larger that the default setting.

4.3.1 Weight Setting

CAUTION
■ G10 series
The total weight of the end effector and the work piece must not exceed 10 kg.
The G10 series Manipulators are not designed to work with loads exceeding 10
kg.
G20 series
The total weight of the end effector and the work piece must not exceed 20 kg.
The G20 series Manipulators are not designed to work with loads exceeding 20
kg.
Always set the Weight parameters according to the load. Setting a value that is
smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) in G10 series and G20 series
Manipulators are as follows.
Rated Max.
G10 series 5 kg 10 kg
G20 series 10 kg 20 kg
When the load (weight of the end effector and work piece) exceeds the rating, change the
setting of Weight parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system corresponding to the “Weight Parameter” is set automatically.

Load on the Shaft

The load (weight of the end effector and work piece) on the shaft can be set by Weight
parameter.
EPSON
RC+
Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools] - [Robot
Manager]). (You may also execute the Inertia command from the [Command Window].)