Epson G3 Series, Manual

Page: 67 / 200

Setup & Operation 4. Setting of End Effectors
G3 Rev.14 55
<Example> A “1 kg” camera is attached to the end of the G3 series arm (180 mm away
from the rotation center of Joint #2) with a load weight of “1 kg”.
M=1
L2=130
LM=180
WM=1
×
180
2
/130
2
=1.917
⇒
1.9 (round up)
W+WM=1+1.9=2.9
Enter “2.9” for the Weight Parameter.
Shaft
Weight of
camera
M=1kg
W=1kg
L
2
=130 mm
L
M
=180 mm
Joint #2
Automatic speed setting by Weight
140
120
100
80
60
40
20
0 1 1.5 2 2.5 3 (kg)
Weight setting
(%)
* The percentage in the graph
is based on the speed at
rated weight (1 kg) as 100%.
100
Automatic acceleration/deceleration setting by Weight
140
120
100
80
60
40
20
0 1 1.5 2 2.5 3 (kg)
Weight setting
(%)
* The percentage in the graph is
based on the acceleration
/ deceleration at rated weight
(1 kg) as 100%.
110
80
90
100
G3-25***
140
120
100
80
60
40
20
0 1 1.5 2 2.5 3 (kg)
Weight setting
(%)
* The percentage in the graph is
based on the acceleration
/ deceleration at rated weight
(1 kg) as 100%.
110
70
60
G3-30***