Inertia Statement
Specifies load inertia and eccentricity for current robot.
Syntax
(1) Inertia [loadInertia [, eccentricity]]
(2) Inertia
Parameters
- loadInertia
- Specify the moment of inertia (real number, unit: kgm2) around the center of the tip joint, including hand and work, as a numeric value or an expression. Real expression that specifies total moment of inertia in kgm2 around the center of the end effector joint, including end effector and part.
- eccentricity
- Optional. Real expression that specifies eccentricity in mm around the center of the end effector joint, including end effector and part.
Return Values
When parameters are omitted, the current Inertia parameters are displayed.
When [eccentricity] is omitted, the entered [loadInertia] will be set and the default value [eccentricity] will be set.
It is not possible to omit only [loadInertia].
Note that when you specify a value smaller than the actual value to the inertia or eccentricity, excessive acceleration and deceleration values will be set and may damage the manipulator. In addition, it may cause an error or impact. It may cause the function will not work best, the life of the parts be shortened, or the belt be misaligned due to teeth losing.
Description
Use the Inertia statement to specify the total moment of inertia for the load on the end effector joint. This allows the system to more accurately compensate acceleration, deceleration, and servo gains for end effector joint. You can also specify the distance from the center of end effector joint to the center of gravity of the end effector and part using the eccentricity parameter.
Robot parameter data is stored in compact flash in controller. Therefore, writing to command flash occurs when executing this command. Frequent writing to compact flash affect to lifetime of compact flash. We recommend to use this command minimally.
You can also set by following “Weight, Inertia, and Eccentricity/offset Measurement Utility”.
The following manual describes the details.
"Epson RC+ User’s Guide Weight, Inertia, and Eccentricity / Offset Measurement Utility"
Notes
Inertia Values Are Not Changed by Turning Main Power Off
The Inertia values are not changed by turning power off. Once the value is set, the value is memorized in the controller.
When nothing is changed, it will remain at the previously set value.
See Also
Inertia Function
For details of Hand control commands, refer to the following manual:
"Hand Function"
Inertia Statement Example
Inertia 0.02, 1