Epson N6 Series, Manipulator Manual

Page: 69 / 376

Setup & Operation 4. End Effectors
N6 Rev.2 57
4.3.1 WEIGHT setting
CAUTION
■
Set the total weight of the end effector and the work piece smaller than the
maximum payload.
The N6 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 N6 series Manipulators
is as follows:
Rated Maximum
3 kg 6 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].
Load on the Manipulator
When you attach the equipment to the decks on the upper arm, convert its weight into
equivalent weight assuming that the equipment is attached to the end of the Arm #6.
Then, this equivalent weight added to the load will be a Weight parameter.
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
Weight parameter = M
w
+ W
a
+ W
b
M
w
W
a
W
b
: Load on the fore end of Arm #6 (kg)
: Equivalent weight of the Arm #3 deck (kg)
: Equivalent weight of the Arm #5 deck (kg)
W
a
= M
a
(L
a
)²/ (L)²
W
b
= M
b
(L
b
)²/ (L)²
M
a
M
b
L
L
a
L
b
: Weight of the air valve on the Arm #3 deck
: Weight of the camera on the Arm #5 deck
: Length of the upper arm (mm)
: Distance between the Joint #3 and the center of gravity of
the air valve on the Arm #3 deck (mm)
: Distance between the Joint #3 and the center of gravity
of the camera on the Arm #5 deck (mm)