Epson C12 Series, Руководство манипулятора

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Setup & Operation 4. End Effectors
44 C12 Rev.3
Automatic speed setting by Weight parameter
The percentages in the graphs are based on the speed at rated weight (3 kg) as 100%.
0
20
40
60
80
100
120
140
0 1 2 3 4 5 6 7 8 9 10 11 12
加速度補正
[%]
速度補正
[%]
(kg)
ハンド重量
120
105
100
80
60
48
80
100 100
100
100
(%)
(kg) Weight Parameter
Acceleration / Deceleration
Speed
4.3.2 INERTIA setting
Inertia Moment and the INERTIA Setting
The inertia moment is defined as “the ratio of the torque applied to a rigid body and its
resistance to motion”. This value is typically referred to as “the moment of inertia”,
“inertia”, or “GD
2
”. When the Manipulator operates with objects such as an end effector
attached to the Arm #6, the moment of inertia of load must be considered.
CAUTION
■
The inertia moment of the load (weight of the end effector and work piece) must
be 0.2 kg·m 2 or less. The C12 series Manipulators are not designed to work with
inertia moment exceeding 0.2 kg·m 2 .
Always set the inertia moment (INERTIA) parameter according to the inertia
moment. Setting a value that is smaller than the actual inertia moment may
cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life of parts/mechanisms.
The acceptable inertia moment of load for C12 series Manipulators is 0.03 kg·m 2 nominal
rating and 0.2 kg·m
2
maximum. Change the setting of the inertia moment according to the
inertia moment of the load using the INERTIA command. After the setting has been
changed, the maximum acceleration/deceleration speed of Arm #6 responding to “inertia
moment” is set automatically.
Inertia moment of load on Arm #6
The inertia moment of the load (weight of the end effector and work piece) on the Arm #6
can be set by the “inertia moment (INERTIA)” parameter of the INERTIA command.
EPSON
RC+
Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:].
You may also execute the Inertia command from [Command Window].