Epson LS series, Manipulator Manual

Page: 64 / 186

Setup & Operation 4. Setting of End Effectors
50 LS Rev.10
Automatic acceleration/deceleration setting of Joint #4 by Inertia
(moment of inertia)
LS3
0 0.01 0.02 0.03 0.04 0.05 0.06 (kg
·
m
2
)
Moment of inertia setting
120
100
80
60
40
20
(%)
100
60
20
40
LS6
0 0.02 0.04 0.06 0.08 0.10 0.12 (kg
·
m
2
)
Moment of inertia setting
120
100
80
60
40
20
(%)
100
60
30
15
Eccentric Quantity and the Inertia Setting
CAUTION
■
The eccentric quantity of load (weight of the end effector and work piece) must be
LS3: 100 mm, LS6: 150 mm or less. The LS series Manipulators are not
designed to work with eccentric quantity exceeding LS3: 100 mm, LS6: 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 LS series is 0 mm at the default rating and
LS3: 100 mm, LS6: 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.
Position of load’s center of gravity
Rotation center
Eccentric quantity
(LS3: 100 mm, LS6: 150 mm or less)
Eccentric Quantity