Epson VT6L User Manual

Setup & Operation 4. Setting of End Effectors
48 VT Rev.1
Inertia moment of load on Arm #6
The inertia moment of the load (weight of the end effector and work piece) on the Arm #6
can be set by the “inertia moment (INERTIA)” parameter of the INERTIA command.
EPSON
RC+
Select [T
ools]–[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:].
You may also execute the Inertia command from [Command Window].
Eccentric Quantity and the INERTIA Setting
CAUTION
■
The eccentric quantity of the load (weight of the end effector and work piece)
must be
300 mm or less. The VT series Manipulators are not designed to work
with eccentric quantity exceeding
300 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 VT series Manipulators is 50 mm at
nominal rating and 300 mm at maximum.
When the eccentric quantity of the load exceeds the rating, change the setting of eccentric
quantity parameter using the INERTIA command. 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
(300 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 command.
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 command from [Command Window].

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English