Epson G10 Series - Manual (Page 64)

Setup & Operation 4. Setting of End Effectors
54 G10 / G20 Rev.2
Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can
be set by “eccentric quantity” parameter of Inertia command.
EPSON
RC+
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools]-[Robot
Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
G10 series and G20 series
* The percentage in the graph is
based on the acceleration /
deceleration at rated
eccentricity (0 mm) as 100%.
120
100
80
60
40
20
0 50 100 150 200 (mm) Eccentricity setting
70
50
25
(%)
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