GX4 Manipulator 4. Setting of End Effectors
56
GX series Rev.2
4.3.2 Inertia Setting
Moment of Inertia and the Inertia Setting
The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its
resistance to motion”. This value is typically referred to as “the moment of inertia”, “inertia”,
or “GD
2
”. When the Manipulator operates with additional objects (such as an end effector)
attached to the shaft, the moment of inertia of load must be considered.
CAUTION
■
The moment of inertia of the load (weight of the end effector and work piece) must
be 0.05 kg
·
m
2
or less. The GX4 series Manipulators are not designed to work with
a moment of inertia exceeding 0.05 kg
·
m
2
. Always set the moment of inertia
parameter to the correct moment of inertia. Setting a value that is smaller than the
actual moment of inertia may cause errors, excessive shock, insufficient function
of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable moment of inertia of load for a GX4 series Manipulator is 0.005 kg
⋅
m
2
at
the default rating and 0.05 kg
⋅
m
2
at the maximum. When the moment of inertia of the load
exceeds the rating, change the setting of the moment of inertia parameter of the Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 at PTP motion corresponding to the “moment of inertia” value is set automatically.
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can
be set by the “moment of inertia” parameter of the Inertia command.
EPSON
RC+
Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:]. (You
may also execute the Inertia command from [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of
inertia)
Standard mode
GX4-A25**, GX4-A30**, GX4-A35**
100
80
60
40
20
0
0.01
0.02
0.03
0.04
0.05 (kg
･
m
2
)
(%)
32
Moment of inertia setting
15
100
40
25
0.005
100
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm
setting is 100%.
Summary of Contents for SCARA GX Series
Page 1: ...Original instructions Rev 2 EM221R5129F SCARA Robots GX series Manual ...
Page 2: ...GX series Manual Rev 2 ...
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Page 86: ...GX4 Manipulator 5 Motion Range 76 GX series Rev 2 ...
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