Epson LS20-BA04S

Setup & Operation 4. Setting of End Effectors
42
LS20-B Rev.4
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)
0 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 (kg·m
2
)
Moment of inertia setting
180
160
140
120
100
80
60
40
20
(%)
160
28.6
7.1
100
Moment of inertia
setting (kg·m
2
)
Automatic acceleration/deceleration setting of
Joint #4 by Inertia (moment of inertia) (%)
0.01
160
0.05
100
0.15
28.6
1.00
7.1