Setup & Operation 4. End Effectors
S5 Rev.5 55
Eccentric Quantity and the INERTIA Setting
The acceptable eccentric quantity of load in S5 series Manipulators is 50 mm nominal
rating. When the eccentric quantity of load exceeds the rating, change the setting of
eccentric quantity parameter using the INERTIA command. After the setting has been
changed, the maximum acceleration/deceleration speed of Manipulator corresponding to
“eccentric quantity” is set automatically.
Position of Load’s Center of Gravity
a, b = Eccentric Quantity
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 load (weight of the end effector and work piece) on Arm #6 can
be set by the “eccentric quantity” parameter of the INERTIA command.
Enter the larger value of “a” or “b” in the figure above to the [Eccentricity] text box.
The method for setting the parameter varies with the software used.
From EPSON RC+-[Tools]-[Robot Manager], enter into the [Eccentricity:] text box on the
[Inertia] panel.
You may also execute the Inertia command from [Command Window].
Automatic acceleration/deceleration setting by INERTIA (eccentric quantity)
* The percentage in the graph is based on the acceleration/ deceleration at rated eccentricity
(50 mm) as 100%.
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