Epson LS20, Руководство манипулятора, Страница: 58 / 176

Setup & Operation 4. Setting of End Effectors
46 LS20 Rev.4
Eccentric Quantity and the Inertia Setting
CAUTION
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The eccentric quantity of load (weight of the end effector and work piece) must be
200 mm or less. The LS20 series Manipulators are not designed to work with
eccentric quantity exceeding 200 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 LS20 series is 0 mm at the default rating and
200 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 (200 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.
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)
* The percentage in the graph is
based on the acceleration /
deceleration at rated eccentricity
(0 mm) as 100%.
120
100
80
60
40
20
0 50 100 150 200 (mm)
Eccentricity setting
70
50
25
(%)
100
EPSON
RC+