5. End Effectors Part 1: Setup & Operation
26
If you move the manipulator horizontally when the position of Joint #3 is low, it may cause
over shoot at the time of final positioning. We recommend that the height of the Joint #3
be as high as possible when you move the manipulator horizontally.
Moment of inertia and the ACCEL setting
When dealing with rotating shafts, you must account for the moment of inertia of a load.
There are also ratings and maximum values for allowable moments of inertia. They differ
depending on the Weight setting described above. The ratings and maximum moments of
inertia are as follows:
W : Weight setting (kg)
I : Allowable moment of inertia (kg⋅m
2
)
0.03
0.02
0.01
0.04
I (kg⋅m
2
)
W (kg)
0
012345
Rated allowable
moment of inertia
Maximum allowable
moment of inertia
Figure 14. Allowable moment of inertia
When the moment of inertia of the end effector is equal to or less than the rated allowable
moment of inertia, you may operate the robot at the maximum acceleration/deceleration speed
setting (ACCEL 100, 100).
When the rated allowable moment of inertia is exceeded, lower the acceleration/ deceleration
speed using the ACCEL command. Using the results of the following formula as a guideline,
input the suitable value for the given conditions.
A = I
0
/ I × 100 (%)
A : ACCEL value in accordance with the moment of inertia
I
0
: Rated allowable moment of inertia
I : Moment of inertia of the end effector
<Example> For the end effector weighting 3kg and with a moment of inertia of 0.02kg⋅m
2
WEIGHT 3
A = 0.015 / 0.02 × 100 = 75%
ACCEL 75,75
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