Epson LS10-B, Руководство пользователя

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Setup & Operation 4. Setting of End Effectors
36 LS10-B 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 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 LS10-B series arm (475 mm away from
the rotation center of Joint #2) with a load weight of “1 kg”.
M=1
L
2
=375
L
M
=475
W
M
=1
×
475
2
/375
2
=1.604
→
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
=375 mm
L
M
=475 mm
Joint #2
Automatic speed setting by Weight
140
120
100
80
60
40
20
0 2 4 6 8 10 12 (kg)
Weight setting
(%)
* The percentage in the graph is
based on the speed at rated
weight (5 kg) as 100%.
120
116
100
LS10-B60**
LS10-B70**
LS10-B80**
112
111 110
85
80
65
80
70
54
End effector
weight (kg)
Automatic speed setting by Weight (%)
LS10-B60** LS10-B70** LS10-B80**
0 120 120 120
1 111 116 116
2 110 112 112
5 100 100 100
8 85 80 65
10 80 70 54