T3-B T6-B Manipulator 4. Setting of End Effectors
68
T-B series Rev.1
4.3 Weight and Inertia Settings
To ensure optimum Manipulator performance, it is important to make sure that the load
(weight of the end effector and work piece) and moment of inertia of the load are within the
maximum rating for the Manipulator, and that Joint #4 does not become eccentric.
If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow
the steps in “
4.3.1Weight Setting
” and “
4.3.2 Inertia Setting
” to set parameters.
Setting parameters makes the PTP motion of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads. In addition, it reduces
persistent vibration produced when the moment of inertia of the end effector and work piece
is larger than the default setting.
4.3.1 Weight Setting
CAUTION
■
The total weight of the end effector and the work piece must not exceed T3-B: 3kg
/ T6-B: 6kg. The T-B series Manipulators are not designed to work with loads
exceeding T3-B: 3kg / T6-B: 6kg.
Always set the Weight parameters according to the load. Setting a value that is
smaller than the actual load may cause errors, excessive shock and insufficient
function of the Manipulator. Also, the life cycle of parts is shortened and positional
gap due to belt tooth bumping occurs.
The acceptable weight capacity (end effector and work piece) in T-B series:
T3-B: default rating 1 kg, the maximum 3 kg
T6-B: default rating 2 kg, the maximum 6 kg
When the load (weight of the end effector and work piece) exceeds the rating, change the
setting of Weight parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system at PTP motion corresponding to the “Weight Parameter” is set automatically.
Load on the Shaft
The load (weight of the end effector and work piece) on the shaft can be set by Weight
parameter.
Enter a value into the [Weight] text box on the [WEIGHT] panel ([Tools]-[Robot Manager]).
(You may also execute the WEIGHT command from the [Command Window].)
EPSON
RC+
Summary of Contents for T-B Series
Page 1: ...SCARA ROBOT T B series MANUAL Rev 1 EM217R4788F ...
Page 2: ...SCARA Robots T B series Manual Rev 1 ...
Page 16: ...TABLE OF CONTENTS xiv T B series Rev 1 ...
Page 18: ......
Page 40: ...Installation 5 Second Step 24 T B series Rev 1 ...
Page 42: ......
Page 58: ...T3 B T6 B Manipulator 2 Specifications 42 T B series Rev 1 2 3 Outer Dimensions 2 3 1 T3 B ...
Page 59: ...T3 B T6 B Manipulator 2 Specifications T B series Rev 1 43 2 3 2 T6 B ...
Page 77: ...T3 B T6 B Manipulator 3 Environments and Installation T B series Rev 1 61 T6 B A B ...
Page 158: ...T3 B T6 B Manipulator 18 Error Code List 142 T B series Rev 1 ...
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Page 178: ...Appendix B Time and Distance of Free Running in Emergency 162 T B series Rev 1 ...
Page 182: ...Appendix C Time and Distance of Free Running When Safeguard Is Opened 166 T B series Rev 1 ...
