Eccentric Quantity and the Inertia Setting
CAUTION
- The eccentric quantity of the hand and workpiece must not exceed 150 mm for LS8-C and 100 mm for LS4-C. The LS-C series are not designed to work with eccentric quantity exceeding 150 mm for LS8-C and 100 mm for LS4-C. Always set the Weight parameters according to the load. 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 acceptable moment of inertia of load for a LS-C series
- LS4-C: Rated: 0 mm, Maximum: 100 mm
- LS8-C: Rated: 0 mm, Maximum: 150 mm
If the moment of inertia of the load exceeds the default rating, change the setting of eccentric quantity parameter of Inertia command. After the setting is changed, the maximum acceleration/deceleration speed of the Manipulator at PTP motion corresponding to the “eccentric quantity” is set automatically.
| Symbol | Description |
|---|---|
| a | Rotation center |
| b | Position of load’s center of gravity |
| c | Eccentric quantity |