Epson VT6L User Manual

Setup & Operation 4. Setting of End Effectors
VT Rev.1 47
Automatic speed setting by Weight
The percentages in the graphs are based on the speed at rated weight (3 kg) as 100%.
140
120
100
80
60
40
20
0 1 2 3 4 5 6 (kg) Weight Parameter
(%)
130
100
100
80
60
Speed
Acceleration / Deceleration
130
120
40
100
100
100
100
80
Weight
parameter (kg)
Acceleration /
Deceleration
Speed
0
130
100
1
130
100
2
120
100
3
100
100
4
80
100
5
60
100
6
40
80
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
0.1 kg·m
2
or less. The VT series Manipulators are not designed to work
with
a moment of inertia exceeding 0.1 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 inertia moment of load for VT series Manipulators is 0.01 kgm
2
nominal
rating and 0.1 kg·m
2
maximum. Change the setting of the inertia moment according to
the inertia moment of the load using the INERTIA command. After the setting has been
changed, the maximum acceleration/deceleration speed of Arm #6 responding to “inertia
moment” is set automatically.

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English