Setup & Operation 4. Setting of End Effectors
G3 Rev.14
57
Automatic acceleration/deceleration setting of Joint #4 by Inertia
(moment of inertia)
0
0.005 0.01 0.02 0.03 0.04 0.05 (kg
･
m
2
)
Moment of inertia setting
120
100
80
60
40
20
(%)
100 100
80
50
30
0
0.005 0.01 0.02 0.03 0.04 0.05 (kg
･
m
2
)
Moment of inertia setting
120
100
80
60
40
20
(%)
100
100
80
50
30
G3-35***
Eccentric Quantity and the Inertia Setting
CAUTION
■
The eccentric quantity of load (weight of the end effector and work piece) must be
150 mm or less. The G3 series Manipulators are not designed to work with
eccentric quantity exceeding 150 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 G3 series is 0 mm at the default rating and
150 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 (150 mm or less)
Eccentric Quantity
Summary of Contents for G3 Series
Page 1: ...Rev 14 EM183R3623F SCARA ROBOT G3 series MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL G3 series Rev 14 ...
Page 8: ...vi G3 Rev 14 ...
Page 14: ......
Page 84: ...Setup Operation 5 Motion Range 72 G3 Rev 14 ...
Page 86: ...74 ...
Page 200: ...Maintenance 15 Maintenance Parts List 188 G3 Rev 14 ...
