Epson G3 Series User Manual

Setup & Operation 4. Setting of End Effectors
G3 Rev.14 57
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
0 0.005 0.01 0.02 0.03 0.04 0.05 (kg･m
2
) Moment of inertia setting
120
100
80
60
40
20
(%)
100
100
80
50
30
0 0.005 0.01 0.02 0.03 0.04 0.05 (kg･m
2
) Moment of inertia setting
120
100
80
60
40
20
(%)
100
100
80
50
30
G3-35***
Eccentric Quantity and the Inertia Setting
CAUTION
■
The
eccentric quantity of load (weight of the end effector and work piece) must be
150 mm
or less. The G3 series Manipulators are not designed to work with
eccentric quantity
exceeding 150 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 G3 series is 0 mm at the default rating and
150 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 (150 mm or less)
Eccentric Quantity

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English