T3-B T6-B Manipulator 4. Setting of End Effectors
74
T-B series Rev.1
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
T3-B
120
100
80
60
40
20
0 50 75 100 (mm)
60
40
25
(%)
100
Eccentricity setting
T6-B
120
100
80
60
40
20
0 50 75 100 150 (mm)
70
30
20
(%)
100
Eccentricity setting
* The percentage in the graph is based on the acceleration / deceleration at rated eccentricity (0
mm) as 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
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 ...
Page 160: ......
Page 168: ......
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 ...
