Omron R6Y Series User Manual

3-20
CHAPTER 3 Installation
6 Attaching The End Effector
6-1 R-axis tolerable moment of inertia and acceleration coefcient
1) The moment of inertia of a load (end effector and workpiece) that can be
attached to the R-axis is limited by the strength of the robot drive unit and
residual vibration during positioning. It is therefore necessary to reduce the
acceleration coefcient in accordance with the moment of inertia.
2) The R-axis tolerable moment of inertia and the acceleration coefficient
versus R-axis moment of inertia for each robot model are shown in Fig.
3-10 to Fig. 3-78 on the subsequent pages. The symbols A
X
, A
Y
, and A
R
in
each gure respectively indicate the acceleration coefcients of the X-axis,
Y-axis and R-axis. The symbol I
R
(J
R
) is the moment of inertia of the load
around the R-axis and m is the tip mass.
Example: R6YXH250
Assume that the mass of the load installed to the R-axis is 1.5kg and the
moment of inertia around the R-axis is 0.02kgm
2
(0.2kgf·cm·sec
2
). When
the tip mass parameter is set to 2kg, the robot can be operated by reducing
the X, Y and R-axis acceleration coefcients to 60%, as can be seen from
Fig. 3-11.
Be sure to select an optimum tip mass and acceleration coefcient param-
eters that meet the mass of the load and moment of inertia before using the
robot.
To make settings for the tip mass and acceleration coefcient, refer to the
separate "OMRON Robot Controller User's Manual".
3) Methods for calculating the moment of inertia of the load are shown in
Section 6-2, however, it is not easy to precisely gure out these values.
If a calculated value smaller than the actual moment of inertia is set, re-
sidual vibrations may occur. If this happens, reduce the acceleration coef-
cient parameter even further.
CAUTION
THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE
MOMENT OF INERTIA AND ACCELERATION COEFFICIENTS
ACCORDING TO THE MANIPULATOR TIP MASS AND MOMENT OF
INERTIA. IF THIS IS NOT OBSERVED, PREMATURE END TO THE LIFE
OF THE DRIVE UNITS, DAMAGE TO THE ROBOT PARTS OR RESIDUAL
VIBRATION DURING POSITIONING MAY RESULT.

Omron R6Y Series Specifications

General

Brand	Omron
Model	R6Y Series
Category	Robotics
Language	English