Setup & Operation 4. Setting of End Effectors
4.3.2Inertia Setting
Moment of Inertia and the Inertia Setting
The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its resistance to motion”. This value is typically referred to as “the moment of inertia”, “inertia”, or “GD2”. When the Manipulator operates with additional objects (such as an end effector) attached to the shaft, the moment of inertia of load must be considered.
CAUTION
■The moment of inertia of the load (weight of the end effector and work piece) must be 0.05 kgwm2 or less. The G3 series Manipulators are not designed to work with a moment of inertia exceeding 0.05 kgwm2.
Always set the moment of inertia parameter to the correct moment of inertia. Setting a value that is smaller than the actual moment of inertia may cause errors, excessive shock, insufficient function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
EPSON
RC+
The acceptable moment of inertia of load for a G3 series Manipulator is 0.005 kgwm2 at the default rating and 0.05 kgwm2 at the maximum. When the moment of inertia of the load exceeds the rating, change the setting of the moment of inertia parameter of the Inertia command. After the setting is changed, the maximum acceleration/deceleration speed of Joint #4 at PTP motion corresponding to the “moment of inertia” value is set automatically.
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can be set by the “moment of inertia” parameter of the Inertia command.
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].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
(%) 120 | 100 | 100 |
|
|
|
|
|
100 |
| 80 |
|
|
| ||
80 |
|
|
|
|
|
| |
|
|
|
|
|
|
| |
60 |
|
|
|
|
| 50 |
|
40 |
|
|
|
|
| 30 |
|
20 |
|
|
|
|
|
| |
|
|
|
|
|
|
| |
| 0 | 0.005 | 0.01 | 0.02 | 0.03 | 0.04 | 0.05 |
*The percentage in the graph is based on the acceleration/deceleration at rated moment of inertia (0.005 kg⋅m2) as 100%.
(kg･m2) Moment of inertia setting
42 | G3 Rev.1 |
