Eccentric Quantity and the Inertia Setting

CAUTION

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The eccentric quantity of the end effector and the workpiece must not exceed 200 mm. The LS50-C series are not designed to work with eccentric quantity exceeding 200 mm. 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 eccentric quantity of load in LS50-C series is 0 mm at the default rating and 200 mm at the maximum. 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