Weight and Inertia Settings
To ensure optimum Manipulator performance, it is important to make sure that the load (weight of the end effector and workpiece) and moment of inertia of the load are within the maximum rating for the Manipulator, and that Joint #4 does not become eccentric. If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow the steps below to set parameters.
Setting parameters makes the PTP motion of the Manipulator optimal, reduces vibration to shorten the operating time, and improves the capacity for larger loads. In addition, it reduces persistent vibration produced when the moment of inertia of the end effector and work piece is larger than the default setting.
It can also be set from “Weight, Inertia, and Eccentricity/Offset Measurement”. For details, refer to the following manual.
“Epson RC+ User’s Guide - Weight, Inertia, and Eccentricity/Offset Measurement Utility”