Load Inertia and Eccentricity Setting

These commands are used to specify the moment of inertia around the end effector. By using the commads, acceleration/deceleration and servo gain of the end effector can be offset properly. Also, you can specify the distacnce from the center of the end effector to the gravity center of the hand and the work piece by using the eccentricity parameter.

Robot parameter data is stored to the memory card in the Controller. Therefore, execution of the command writes to the memory card. Frequent writing to the memory card affects its product life. It is recommended to minimize the execution of the command.