Epson E2C Series, Руководство манипулятора

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Setup & Operation 4. Setting of End Effectors
E2C Rev.6 47
4.3.2 INERTIA Setting
Moment of Inertia and the INERTIA Setting
The moment of inertia 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 after objects such as an end effector
are attached to the shaft, the moment of inertia of load must be considered.
CAUTION
■
The moment of inertia of load (weight of the end effector and work piece) must be
0.05 kg
w
m
2
or less. The E2C series Manipulators are not designed to work with
moment of inertia exceeding 0.05 kg
w
m
2
.
Always set the moment of inertia (INERTIA) parameter according to the moment
of inertia. Setting a value that is smaller than the actual moment of inertia may
cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life cycle of parts/mechanisms.
The acceptable moment of inertia of load in E2C series is 0.005 kg
w
m
2
at the rating and
0.05 kg w m
2
at the maximum. When the moment of inertia of load exceeds the rating,
change the setting of moment of inertia (INERTIA) parameter of load of INERTIA
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 is corresponding to “moment of inertia” is set automatically.
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can
be set by “moment of inertia (INERTIA)” parameter of INERTIA command.
The method for setting parameter varies with the software used.
SPEL CT
Enter the combined total moment of inertia of the end effector and work piece into the
[Load inertia:] text box on the [INERTIA] panel ( [Setup] – [Robot Parameters] ).
EPSON
RC+
EPSON RC+ 4.* or before
（
RC520/RC420
）
Enter the combined total moment of inertia of the end effector and work piece into the
[Load inertia:] text box on the [INERTIA] panel ( [Project] – [Robot Parameters] ).
You may also execute the INERTIA command from the [EPSON RC+ Monitor Window].
EPSON RC+ 5.0 or later （ RC170 ）
Enter into the [Load inertia:] text box on the [Inertia] panel ([Tools]–[Robot Manager]).
You may also execute the Inertia command from [Command Window].