Setup & Operation 4. Setting of End Effectors
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LS20-B Rev.4
4.3 Weight and Inertia Settings
To ensure optimum Manipulator performance, it is important to make sure that the load
(weight of the end effector and work piece) and moment of inertia of the load are within the
maximum rating for the Manipulator, and that Joint #4 does not become eccentric.
If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow
the steps below, “4.3.1 Weight Setting” and “4.3.2 Inertia Setting” to set parameters.
Setting parameters makes the PTP motion of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads. In addition, it
reduces persistent vibration produced when the moment of inertia of the end effector and
work piece is larger than the default setting.
4.3.1 Weight Setting
CAUTION
■
f the end effector and the workpiece must not exceed 20 kg
LS20-B series Manipulators are not designed to work with loads exceeding
0 kg. Always set the Weight parameters according to the load. Setting a value
that is smaller than the actual load may cause errors, excessive shock and
insufficient function of the Manipulator.
Also, the life cycle of parts will shorten
and belt tooth jumping will occur which will lead to potion shift.
The acceptable weight capacity (end effector and workpiece) in LS20-B series is
Default rating: 10 kg
Maximum: 20 kg
When the load (weight of the end effector and work piece) exceeds the rating, change the
setting of Weight parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system at PTP motion corresponding to the “Weight Parameter” is set automatically.
Load on the Shaft
The load (weight of the end effector and work piece) on the shaft can be set by Weight
parameter.
Enter a value into the [Load inertia:] text box on the [Inertia] panel (
[Tools]-
anager]). (You may also execute the Inertia command from the [Command Window].)
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