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Setup & Operation 4. Setting of End Effectors
52 G10 / G20 Rev.2
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
Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
G10 series
0 0.05 0.10 0.15 0.20 0.25 (kg
･
m
2
)
Moment of inertia setting
120
100
80
60
40
20
(%)
100 100
50
35
30
* The percentage in the graph is based
on the acceleration/deceleration at
rated moment of inertia (0.02 kg⋅m
2
)
as 100%.
G20 series
0 0.10 0.20 0.30 0.40 0.50 (kg
･
m
2
)
Moment of inertia setting
600
500
400
300
200
100
(%)
400
100
60
35
26
* The percentage in the graph is based
on the acceleration/deceleration at
rated moment of inertia (0.05 kg⋅m
2
)
as 100%.