Setup & Operation 4. Setting of End Effectors
G6 Rev.21 63
4.3.2 Inertia Setting
Moment of Inertia and the Inertia Setting
The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its
resistance to motion”. This value is typically referred to as “the moment of inertia”,
“inertia”, or “GD
2
”. When the Manipulator operates with additional objects (such as an
end effector) attached to the shaft, the moment of inertia of load must be considered.
CAUTION
■
moment of inertia of the load (weight of the end effector and work piece)
0.12 kgm
2
or less. The G6 series Manipulators are not designed to
a moment of inertia exceeding 0.12 kgm
2
.
set the moment of inertia parameter to the correct moment of inertia.
Setting a value that is smaller than the actual moment of inertia may cause
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/me
chanisms.
The acceptable moment of inertia of load for a G6 series Manipulator is 0.01 kgm
2
at the
default rating and 0.12 kgm
2
at the maximum. When the moment of inertia of the load
exceeds the rating, change the setting of the moment of inertia parameter of the Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
Joint #4 at PTP motion corresponding to the “moment of inertia” value is set
automatically.
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.
Enter a value into the [Load inertia:] text box on the [Inertia]
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 0.02 0.04 0.06 0.08 0.10 0.12 (kg･m
2
)
Moment of inertia setting
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