Epson G20 Series

Setup & Operation 4. Setting of End Effectors
72 G10 / G20 Rev.20
Eccentric Quantity and the Inertia Setting
CAUTION
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The
eccentric quantity of load (weight of the end effector and work piece) must be
200 mm
or less. The G10 series and G20 series Manipulators are not designed
to work with
eccentric quantity exceeding 200 mm.
Always set the eccentric quantity parameter according to the eccentric quantity.
Setting a value that is smaller than the actual eccentric quantity may cause
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms
.
The acceptable eccentric quantity of load in G10 series and G20 series Manipulators is 0
mm at the default rating and 200 mm at the maximum. When the eccentric quantity of
load exceeds the rating, change the setting of eccentric quantity parameter of Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
the Manipulator at PTP motion corresponding to the “eccentric quantity” is set
automatically.
Position of load’s center of gravity
Rotation center
Eccentric quantity (200 mm or less)
Eccentric Quantity