Setup & Operation 4. End Effectors
C12 Rev.3
45
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of the load (weight of the end effector and work piece) must
be 300 mm or less. The C12 series Manipulators are not designed to work with
eccentric quantity exceeding 300 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 the load for C12 series Manipulators is 50 mm at
nominal rating and 300 mm at maximum. When the eccentric quantity of the load exceeds
the rating, change the setting of eccentric quantity parameter using the INERTIA command.
After changing the setting, the maximum acceleration/deceleration speed of Manipulator
corresponding to “eccentric quantity” is set automatically.
Position of Load’s Center of Gravity
Rotation Center
a, b = Eccentric Quantity
(300 mm or less)
Flange
a
b
To set the parameter, enter
the larger value of “a” or “b”.
Eccentric Quantity
Eccentric quantity of load on Arm #6
The eccentric quantity of the load (weight of the end effector and work piece) on the Arm
#6 can be set by the “eccentric quantity” parameter of the INERTIA command.
Enter the larger value of either “a” or “b” in the figure above to [Eccentricity].
EPSON
RC+
Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:].
You may also execute the Inertia command from [Command Window].
Summary of Contents for C12 Series
Page 1: ...Rev 3 EM204R4255F 6 Axis Robots C12 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual C12 series Rev 3 ...
Page 8: ...vi C12 Rev 3 ...
Page 14: ...Table of Contents xii C12 Rev 3 ...
Page 16: ......
Page 30: ...Setup Operation 2 Specifications 16 C12 Rev 3 2 4 Outer Dimensions Unit mm ...
Page 84: ......
Page 155: ...Maintenance 4 Cable Unit C12 Rev 3 141 4 2 Connector Pin Assignment 4 2 1 Signal Cable ...
Page 156: ...Maintenance 4 Cable Unit 142 C12 Rev 3 ...
Page 157: ...Maintenance 4 Cable Unit C12 Rev 3 143 ...
Page 158: ...Maintenance 4 Cable Unit 144 C12 Rev 3 4 2 2 Power Cable ...
