Epson G3 Series, Manual

Page: 70 / 200

Setup & Operation 4. Setting of End Effectors
58 G3 Rev.14
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.
EPSON
RC+
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)
* The percentage in the graph is
based on the acceleration /
deceleration at rated eccentricity
(0 mm) as 100%.
120
100
80
60
40
20
0 50 100 150 (mm)
Eccentricity setting
60
40
20
(%)
100
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load
(end effector with work piece).
The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and
(c).
Work piece (b)
Work piece (c)
End effector (a)
Joint #3 shaft
Rotation center
Moment of inertia
of end effector (a)
=
Moment of inertia
of work piece (b)
+
Moment of inertia
of work piece (c)
+
Whole moment
of inertia
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.