Epson G3 Series - Manual (Page 51)

Setup & Operation 4. Setting of End Effectors
G3 Rev.1 41
<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
L
2
= 130
L
M
= 180
W
M
= 1 × 180 2 /130 2 = 1.538 → 1.6 (round up)
W + W
M
= 1 + 1.6 = 2.6
Enter “2.6” for the Weight Parameter.
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
(3 kg) as 100%.
110
80
110
70
90
100
70
60
G3-25***
G3-30***
G3-35***