Loading Inertia and Inertia Settings Loading inertia (moment) is the quantity that indicates the rotational resistance of an object, which is indicated by the values of moment of inertia, inertia, GD2, etc. When installing the end of the clamp on the shaft and performing the operation, it is necessary to consider the loading inertia (torque) of the load.
The loading inertia of the load (fixture end component + workpiece component) must be T3: 0.01 kg · m2 / T6: 0.08 kg · m2 or less. T Series Epson robots are designed with a loading inertia of no more than T3: 0.01 kg · m2 / T6: 0.08 kg · m2. In addition, you must set the appropriate loading inertia value. If the loading inertia parameter is set to a value that is less than the actual loading inertia, it may lead to errors or shocks, which not only do not fully perform the performance, but also may shorten the service life of the individual mechanism components or the possibility of azimuth gaps due to belt gear runout.
Acceptable loading inertia of T series robots: T3: additional 0.003 kg · m2, * large 0.01 kg · m2 T6: additional 0.01 kg · m2, * large 0.08 kg · m2 When the loading inertia (torque) of the load exceeds the additional value, change the load loading inertia parameter setting of the Inertia command. If the setting is changed, the maximum acceleration and deceleration of the 4th joint PTP is automatically compensated based on the "loading inertia".
Loading inertia (torque) of the load of the device on the shaft The loading inertia (torque) of the load load (end component of the fixture + the component of the workpiece) is set using the "Loading Inertia" parameter of the Inertia command.
Set it in the [Tools]-[Robot Manager]-[Inertia] panel-[Load inertia:] text box. (You can also use the Inertia command in the [Command Window].) )
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