Epson LS20-B Series

Setup & Operation 4. Setting of End Effectors
44
LS20-B Rev.4
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
* The percentage in the
graph is based on the
acceleration / deceleration
at rated eccentricity
(0 mm) as 100%.
120
100
80
60
40
20
0 50 100 150 200 (mm)
Eccentricity setting
70
50
25
(%)
100
Eccentric quantity
parameter (mm)
Automatic acceleration/deceleration
setting by Inertia (eccentric quantity) (%)
0
100
50
70
100
50
200
25
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load (end
effector with work piece). The moment of inertia of the entire load is calculated by the
sum of each part (a), (b), and (c).
Workpiece (b)
Workpiece (c)
End effector (a)
Joint #3 shaft
Rotation center
Whole moment
of inertia
Moment of inertia
of end effector (a)
= +
Moment of inertia
of work piece (c)
+
Moment of inertia
of work piece (b)