Epson T-B Series User Manual

T3-B T6-B Manipulator 4. Setting of End Effectors
72 T-B series Rev.1
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 work piece) must
be
T3-B: 0.01 kg·m
2
/ T6-B: 0.08 kg·m
2
or less. The T-B series Manipulators are
not designed to work with
a moment of inertia exceeding T3-B: 0.01 kg·m
2
/ T6-B:
0.08 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 T-B series Manipulator:
T3-B: default rating 0.003 kg·m
2
, the maximum 0.01 kg·m
2
T6-B: default rating 0.01 kg·m
2
, the maximum 0.08 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.
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.
EPSON
RC+
Enter a value into the [Load inertia:] text box on the [Inertia] panel (
[Tools]-
[Robot
M
anager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
T3-B
0 0.002
0.004
0.006 0.008 0.01 0.012
(kg
·m
2
)
120
100
80
60
40
20
(%)
100
100
30
75
Inertia moment parameter

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English