Epson G10 Series 사용자 설명서

Setup & Operation  4. Setting of End Effectors 

  

G10 / G20 Rev.2 

51 

4.3.2  Inertia Setting 

 

Moment of Inertia and the Inertia Setting 

The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its 
resistance to motion”.  This value is typically referred to as “the moment of inertia”, 
“inertia”, or “GD

2

”.    When the Manipulator operates with additional objects (such as an 

end effector) attached to the shaft, the moment of inertia of load must be considered. 
 

 

CAUTION 

■  G10 series 

The moment of inertia of the load (weight of the end effector and work piece) 
must be 0.25 kgwm

2

 or less.    The G10 series Manipulators are not designed to 

work with a moment of inertia exceeding 0.25 kgwm

2

. 

G20 series 
The moment of inertia of the load (weight of the end effector and work piece) 
must be 0.45 kgwm

2

 or less.    The G20 series Manipulators are not designed to 

work with a moment of inertia exceeding 0.45 kgwm

2

. 

Always set the moment of inertia parameter to the correct moment of inertia.  
Setting a value that is smaller than the actual moment of inertia may cause 
errors, excessive shock, insufficient function of the Manipulator, and/or shorten 
the life cycle of parts/mechanisms. 

The acceptable moment of inertia of load for a G10 series and G20 series Manipulators are 
as follows. 

 

Rated Max. 

G10 series 

0.02 kg･m

2

0.25 kg･m

2

G20 series 

0.05 kg･m

2

0.45 kg･m

2

When the moment of inertia of the load exceeds the rating, change the setting of the 
moment of inertia parameter of the Inertia command.    After the setting is changed, the 
maximum acceleration/deceleration speed of Joint #4 corresponding to the “moment of 
inertia” value is set automatically.