Setup & Operation 4. End Effectors
60
N6 Rev.2
4.3.2 INERTIA setting
Inertia Moment and the INERTIA Setting
The inertia moment is defined as “the ratio of the torque applied to a rigid body and its
resistance to motion”. 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 inertia moment of the load (weight of the end effector and work piece) must
be 0.14 kg·m
2
or less. The N6 series Manipulators are not designed to work
with inertia moment exceeding 0.14 kg·m
2
.
Always set the inertia moment (INERTIA) parameter according to the inertia
moment. Setting a value that is smaller than the actual inertia moment may
cause errors, excessive shock, insufficient function of the Manipulator, and/or
shorten the life of parts/mechanisms.
The acceptable inertia moment of load for N6 series Manipulators is 0.03 kg·m
2
nominal
rating and 0.14 kg·m
2
maximum. Change the setting of the inertia moment according to
the inertia moment of the load using the INERTIA setting. After the setting has been
changed, the maximum acceleration/deceleration speed of Arm #6 responding to “inertia
moment” is set automatically.
Inertia moment of load on Arm #6
The inertia moment of the load (weight of the end effector and work piece) on the Arm #6
can be set by the “inertia moment (INERTIA)” parameter of the INERTIA setting.
EPSON
RC+
Select [Tools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:].
You may also execute the INERTIA setting from [Command Window].
Summary of Contents for N6 Series
Page 1: ...Rev 2 EM187R3735F 6 Axis Robots N6 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual N6 series Rev 2 ...
Page 8: ...vi N6 Rev 2 ...
Page 14: ......
Page 27: ...Setup Operation 1 Safety N6 Rev 2 15 N6 A850 R C A D F G F E H G F B G F G F F F N6 A850 BR F ...
Page 34: ...Setup Operation 2 Specifications 22 N6 Rev 2 N6 A850 BR Cable direction Upward ...
Page 52: ...Setup Operation 3 Environment and Installation 40 N6 Rev 2 N6 A850 R Maximum motion range 802 ...
Page 66: ...Setup Operation 4 End Effectors 54 N6 Rev 2 N6 A850 R Unit mm ...
Page 104: ......
Page 274: ...Maintenance 4 Cable 262 N6 Rev 2 4 7 1 Signal Power cable ...
Page 275: ...Maintenance 4 Cable N6 Rev 2 263 ...
Page 276: ...Maintenance 4 Cable 264 N6 Rev 2 4 7 2 User Cable ...