Epson LS series, Руководство манипулятора

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Setup & Operation 4. Setting of End Effectors
LS Rev.10 47
Equivalent Weight Formula
When you attach the equipment near Arm #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 “1 kg” camera is attached to the end of the LS3 series arm (180 mm away from
the rotation center of Joint #2) with a load weight of “1 kg”.
M=1
L
2
=175
L
M
=225
W
M
=1
×
225
2
/175
2
=1.653

1.7 (round up)
W+W
M
=1+1.7=2.7
Enter “2.7” for the Weight Parameter.
Shaft
Weight of
camera
M=1kg
W=1kg
L
2
=175 mm
L
M
=225 mm
Joint #2
Automatic speed setting by Weight
LS3
140
120
100
80
60
40
20
0 1 2 3 (kg)
Weight setting
(%)
* The percentage in the graph is
based on the speed at rated
weight (3 kg) as 100%.
100 100
100 100
LS6
140
120
100
80
60
40
20
0 1 2 3 4 5 6 (kg)
Weight setting
(%)
* The percentage in the graph is
based on the speed at rated
weight (6 kg) as 100%.
100 100
100
100 100 100