Eccentric Quantity and the Inertia Setting

CAUTION

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The eccentricity of the load (hand and workpiece) must be 100 mm or less for LA3-A and 150 mm or less for LA6-A. The LA-A series Manipulators are not designed to work with eccentricities exceeding 100 mm for LA3-A and 150 mm for LA6-A. Always set the value according to the eccentricity. 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 may be shortened and positional gap due to belt tooth bumping may occur.

The allowable eccentricity of load for LA-A series

• LA3-A

  • Rated weight: 0 mm
  • Maximum: 100 mm

• LA6-A

  • Rated weight: 0 mm
  • Maximum: 150 mm

If the moment of inertia of the load exceeds the rating, change the setting of the eccentric quantity parameter of the Inertia command. After the setting is changed, the maximum acceleration/deceleration of the Manipulator during PTP motion that corresponds to the "Eccentricity" is corrected automatically.

Symbol	Description
a	Rotation center
b	Position of load’s center of gravity
c	Eccentric quantity