Omron R6YXG500, Руководство по установке

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2
Installa
tion
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6. Attaching the end effector
6.1 R-axis tolerable moment of inertia and acceleration coefficient
The moment of inertia of a load (end effector and workpiece) that can be attached to the R-axis is limited by the
strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the
acceleration coefficient in accordance with the moment of inertia.
The R-axis tolerable moment of inertia and the acceleration coefficient versus R-axis moment of inertia for each robot
model are shown in "6.1.1 to 6.1.11 Acceleration coefficient vs. moment of inertia".
The symbols A
X
, A
Y
, A
Z
, and A
R
in each Fig. respectively indicate the acceleration coefficients of the X-axis, Y-axis,
Z-axis, and R-axis. The symbol I
R
(J
R
) indicates the moment of inertia of the load around the R-axis and the symbol m
indicates the tip mass.
It is necessary only for the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and
R6YXGS400 to reduce the Z-axis acceleration according to the moment of inertia around the R-axis so as to ensure the
service life of the spline. This is shown in "6.1.6 Acceleration coefficient vs. moment of inertia (R6YXGL250,
R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400)".
Example: R6YXG500 (See also "6.1.7 Acceleration coefficient vs. moment of inertia (R6YXG500, R6YXGS500)".)
Assume that the mass of the load installed to the R-axis is 1.5kg and the moment of inertia around the R-axis is 0.1kgm 2
(1.0kgfcmsec
2
). When the tip mass parameter is set to 2kg, the robot can be operated by reducing the X, Y and R-axis
acceleration coefficients to 62%, as can be seen from "6.1.7 Acceleration coefficient vs. moment of inertia (R6YXG500,
R6YXGS500)". be sure to select an optimum tip mass and acceleration coefficient parameters that meet the mass of the
load and moment of inertia before using the robot. To make settings for the tip mass and acceleration coefficient, refer
to the separate "omRon Robot Controller User's manual".
methods for calculating the moment of inertia of the load are shown in "6.2 Equation for moment of inertia calculation"
and "6.3 Example of moment of inertia calculation". However, it is not easy to precisely figure out these values. If a
calculated value smaller than the actual moment of inertia is set, residual vibrations may occur. If this happens, reduce
the acceleration coefficient parameter further.
CAUTION
• The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip
mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual
vibration during positioning may result.
• depending on the Z-axis position, vibration may occur when the X, Y or R-axis moves. If this happens, reduce the X, Y or R-axis
acceleration to an appropriate level.
• If the moment of inertia is too large, vibration may occur on the Z-axis depending on its operation position. If this happens, reduce
the Z-axis acceleration to an appropriate level.