Epson E2C Series, Manipulator Manual, Page: 60 / 208

Setup & Operation 4. Setting of End Effectors
48 E2C Rev.6
Automatic acceleration/deceleration setting of Joint #4 by INERTIA
(moment of inertia)
* The percentage in the graph is based on the speed at rated moment of inertia (0.005 kg ⋅ m
2
) as 100%
Moment of inertia setting
E2C25/35
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of load (weight of the end effector and work piece) must be
100 mm or less. The E2C series Manipulators are not designed to work with
eccentric quantity exceeding 100 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 E2C series is 0 mm at the rating and 100 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 Manipulator corresponding to
“eccentric quantity” is set automatically.
Position of load’s center of gravity
Rotation center
Eccentric quantity (100 mm or less)
Eccentric Quantity