Setup & Operation 4. End Effectors
64
N6 Rev.2
(c) Inertia moment of a sphere
m
r
2
+ m
×
L
2
2
5
Sphere’s Center of Gravity
r
Weight = m
L
Rotation Center
4.4 Precautions for Auto Acceleration/Deceleration
The speed and acceleration/deceleration of the Manipulator motion are automatically
optimized according to the values of WEIGHT and INERTIA and the Manipulator’s
postures.
WEIGHT Setting
The speed and acceleration/deceleration of the Manipulator are controlled according to the
load weight set by the WEIGHT command.
The more the load weight increases, the more the speed and acceleration/deceleration are
reduced to prevent residual vibration.
INERTIA Setting
The acceleration/deceleration of Arm #6 are controlled according to the inertia moment set
by the INERTIA setting. The acceleration/deceleration of the whole Manipulator are
controlled according to the eccentricity set by the INERTIA setting. The more the inertia
moment and eccentricity of the load increase, the more the acceleration/ deceleration are
reduced.
Auto Acceleration/Deceleration According to Manipulator’s Posture
The acceleration/deceleration are controlled according to the Manipulator’s posture.
When the Manipulator extends its arms or when the movement of the Manipulator
produces vibration frequently, the acceleration/deceleration are reduced.
Set appropriate values for WEIGHT and INERTIA so that the Manipulator operation is
optimized.
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 ...