Epson LS20-B Series User Manual

Setup & Operation 4. Setting of End Effectors
LS20-B Rev.4 41
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
■
The
moment of inertia of the load (weight of the end effector and workpiece) must
be
1.0 kg·m
2
or less. The LS20-B series Manipulators are not designed to work
with
a moment of inertia exceeding 1.0 kg·m
2
.
Always set the Weight parameters according to the load. Setting a value that is
smaller than the actual load may cause errors, excessive
shock and insufficient
function of the Manipulator. Also, the life cycle of parts is shortened and
positional
gap due to belt tooth bumping occurs.
The acceptable moment of inertia of load for a LS20-B series Manipulator is
Default rating: 0.05 kg·m
2
Maximum: 1.00 kg·m
2
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.

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English