Epson ProSix S5 Series, Руководство пользователя

Страница: 68 / 211

Setup & Operation 4. End Effectors
54
S5 Rev.5
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 with objects such as an end effector
attached to the Arm #6, 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
0.1 kg·m
2
or less. The S5 series Manipulators are not designed to work with
moment of inertia exceeding 0.1 kg·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 S5 series Manipulator is 0.1 kg

m
2
nominal
rating and 0.1 kg

m
2
maximum. When the moment of inertia of load exceeds the rating,
change the setting of the moment of inertia using the INERTIA command. After the
setting has been changed, the maximum acceleration/deceleration speed of Arm #6
responding to “moment of inertia” is set automatically.
Moment of inertia of load on Arm #6
The moment of inertia of load (weight of the end effector and work piece) on Arm #6 can
be set by the “moment of inertia (INERTIA)” parameter of the INERTIA command.
From EPSON RC+-[Tools]-[Robot Manager], enter into the [Load inertia:] text box on the
[Inertia] panel.
You may also execute the Inertia command from [Command Window].