Epson SCARA GX Series, Manual

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GX8 Manipulator 4. Setting of End Effectors
156 GX series Rev.2
Eccentric Quantity and the Inertia Setting
CAUTION
■
The eccentric quantity of load (weight of the end effector and work piece) must be
150 mm or less. The GX8 series Manipulators are not designed to work with
eccentric quantity exceeding 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 GX8 series is 0 mm at the default rating and
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 (150 mm or less)
Eccentric Quantity
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)
Standard mode, Boost mode
GX8-A45**, GX8-A55**, GX8-A65**
100
80
60
40
20
0 50 100 150 (mm)
60
25
20
(%)
100
Eccentricity setting
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm setting is 100%.