Epson T-B Series

T3-B T6-B Manipulator 4. Setting of End Effectors
74 T-B series Rev.1
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
T3-B
120
100
80
60
40
20
0 50 75 100 (mm)
60
40
25
(%)
100
Eccentricity setting
T6-B
120
100
80
60
40
20
0 50 75 100 150 (mm)
70
30
20
(%)
100
Eccentricity setting
* The percentage in the graph is based on the acceleration / deceleration at rated eccentricity (0
mm) as 100%.
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).
Work piece (b)
Work piece (c)
End effector (a)
Joint #3 shaft
Rotation center
Moment of inertia
of end effector (a)
=
Moment of inertia
of work piece (b)
+
Moment of inertia
of work piece (c)
+
Whole moment
of inertia