Epson G10 Series - Manual (Page 58)

Setup & Operation 4. Setting of End Effectors
48 G10 / G20 Rev.2
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 G10 series arm (450 mm
away from the rotation center of Joint #2) with a load weight of “2
kg”.
M = 1
L
2
= 400
L
M
= 450
W
M
=1 ×450 2 /400 2 =1.26 → 1.3 (round up)
W + W
M
= 2 + 1.3 = 3.3
Enter “3.3” for the Weight Parameter.