Epson E2C Series, Руководство манипулятора

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Setup & Operation 4. Setting of End Effectors
46 E2C Rev.6
Load on the Arm
When you attach a camera or other devices to the arm, calculate the weight as the
equivalent of the shaft. Then, add this to the load and enter the total weight to the
WEIGHT parameter.
Equivalent Weight Formula
When you attach the equipment near Joint #2:
When you attach the equipment to the end of Arm #2:
W
M
= M (L
1
)
2
/(L
1
+L
2
)
2
W
M
= M (L
M
)
2
/(L
2
)
2
W
M
M
L
1
L
2
L
M
: equivalent weight
: weight of camera etc.
: length of Arm #1
: length of Arm #2
: distance from rotation center of Joint #2 to center of gravity
of camera etc.
<Example> A “0.5 kg” camera is attached to the end of the E2C series arm (225
mm away from the rotation center of Joint #2) with a load weight “1
kg”.
M = 0.5
L
2
= 125
L
M
= 225
W
M
= 0.5
×
225
2
/125
2
= 1.62
→
1.7 (round up)
W+W
M
= 1 + 1.7 = 2.7
Enter “2.7” to the WEIGHT Parameter.
Automatic speed setting by WEIGHT
* The percentage in the graph is based on the speed at rated weight (1 kg) as 100%.
WEIGHT setting
E2C25/35