Epson N6 Series User Manual

Setup & Operation 4. End Effectors
N6 Rev.2 61
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of
the
load (weight of the end effector and work piece)
must be
160 mm or less. The N6 series Manipulators are not designed to work
with eccentric quantity exceeding
160 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 the load for N6 series Manipulators is 50 mm at
nominal rating and 160 mm at maximum. When the eccentric quantity of the load
exceeds the rating, change the setting of eccentric quantity parameter using the INERTIA
setting. After changing the setting, the maximum acceleration/deceleration speed of
Manipulator corresponding to “eccentric quantity” is set automatically.
Position of Load’s Center of Gravity
Rotation Center
a, b = Eccentric Quantity
(160 mm or less)
Flange
a
b
To set the parameter, enter
the larger value of “a” or “b”.
Eccentric Quantity
Eccentric quantity of load on Arm #6
The eccentric quantity of the load (weight of the end effector and work piece) on the Arm
#6 can be set by the “eccentric quantity” parameter of the INERTIA setting.
Enter the larger value of either “a” or “b” in the figure above to [Eccentricity].
EPSON
RC+
Select
[Tools]-[Robot Manager]-[Inertia] panel and enter the value into [Eccentricity:].
You may also execute the
INERTIA setting from [Command Window].

Epson N6 Series Specifications

General

Brand	Epson
Model	N6 Series
Category	Robotics
Language	English