Epson SCARA GX Series, Manual

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GX4 Manipulator 4. Setting of End Effectors
GX series Rev.2 57
Boost mode
GX4-A25**, GX4-A30**, GX4-A35**
100
80
60
40
20
0 0.01 0.02 0.03 0.04 0.05 (kg
･
m
2
)
(%)
21
Moment of inertia setting
13
100
32
16
0.005
100
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm
setting being 100%.
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 GX4 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 GX4 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+
Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Eccentricity:].
(You may also execute the Inertia command from [Command Window].)