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Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 51
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
■
G10 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.25 kgwm
2
or less. The G10 series Manipulators are not designed to
work with a moment of inertia exceeding 0.25 kgwm
2
.
G20 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.45 kgwm
2
or less. The G20 series Manipulators are not designed to
work with a moment of inertia exceeding 0.45 kgwm
2
.
Always set the moment of inertia parameter to the correct moment of inertia.
Setting a value that is smaller than the actual moment of inertia may cause
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms.
The acceptable moment of inertia of load for a G10 series and G20 series Manipulators are
as follows.
Rated Max.
G10 series
0.02 kg･m
2
0.25 kg･m
2
G20 series
0.05 kg･m
2
0.45 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 corresponding to the “moment of
inertia” value is set automatically.