Setup & Operation 4. End Effectors
N6 Rev.2
61
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of the load (weight of the end effector and work piece)
must be 160 mm or less. The N6 series Manipulators are not designed to work
with eccentric quantity exceeding 160 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 N6 series Manipulators is 50 mm at
nominal rating and 160 mm at maximum. When the eccentric quantity of the load
exceeds the rating, change the setting of eccentric quantity parameter using the INERTIA
setting. 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
(160 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 setting.
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 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 ...