Epson G20 Series

Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.20 71
Moment of inertia of load on the shaft
The moment of inertia of load (weight of the end effector and work piece) on the shaft can
be set by the “moment of inertia” parameter of the Inertia command.
EPSON
RC+
Enter a value into the [Load inertia:] text box on the [Inertia] panel (
[Tools]-
[Robot
M
anager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
G10 series
0 0.05 0.10 0.15 0.20 0.25 (kg
･m
2
) Moment of inertia setting
120
100
80
60
40
20
(%)
100
50
35
30
G20 series
0 0.10 0.20 0.30 0.40 0.50 (kg･m
2
) Moment of inertia setting
120
100
80
60
40
20
(%)
100
42
30
13