GX4 Manipulator 4. Setting of End Effectors
58
GX series Rev.2
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
Standard mode, Boost mode
GX4-A25**, GX4-A30**, GX4-A35**
100
80
60
40
20
0 50 100 150 (mm)
60
40
20
(%)
100
Eccentricity setting
The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm
setting being 100%.
Calculating the moment of inertia
Refer to the following examples of formulas to calculate the moment of inertia of load (end
effector with work piece).
The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and
(c).
Work piece (b)
Work piece (c)
End effector (a)
Joint #3 shaft
Rotation center
Moment of inertia
of end effector (a)
=
Moment of inertia
of work piece (b)
+
Moment of inertia
of work piece (c)
+
Whole moment
of inertia
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.
Summary of Contents for SCARA GX Series
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Page 2: ...GX series Manual Rev 2 ...
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