Epson C12 Series, Manipulator Manual

Page: 55 / 314

Setup & Operation 4. End Effectors
C12 Rev.3 41
Example: Calculation of the critical dimension of the load (a) when the load is 12 kg.
Center of gravity by the allowable moment control:
25.0 Nm/(12 kg×9.8 m/s
2
) = 0.212 m = 212 mm
Center of gravity by the allowable inertia moment control:
(0.47 kgm
2
/12 kg)
1/2
= 0.241 m = 241 mm
Due to the allowable moment control, center of gravity for the load limit is 212
mm from the Arm #5 rotation center.
Distance from the flange to the center of gravity for the load limit
a = 212 mm
－
80 mm = 132 mm
Critical Dimension of Load
Arm #6
Rotation Center
Load’s Center of Gravity
Flange
Arm #5
Rotation Center
[Unit: mm]
4.3.1 WEIGHT setting
CAUTION
■
Set the total weight of the end effector and the work piece smaller than the
maximum payload.
The C12 series Manipulators can operate without limitations on the condition
unless and until the load exceeds this maximum payload. Always set the Weight
parameters of the WEIGHT command according to the load. Setting a value that
is smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) for C12 series Manipulators
is as follows:
Rated Maximum
3 kg 12 kg
Change the setting of the Weight parameter according to the load.
After changing the Weight parameter setting, the maximum acceleration/deceleration and
speed of the robot system corresponding to the load is set automatically.
Setting method of Weight parameters
EPSON
RC+
Select [Tools]-[Robot Manager]-[Weight] panel and set the value in [Weight:].
You may also execute the Weight command from [Command Window].