Epson RC620 Safety And Installation page 118

1. Safety
*1 In the case of PTP control
*2 When the setting payload is more than 5 kg and less than or equal to 7 kg, refer to the
section "Restrictions on payload exceeding 5 kg (more than 5 kg and less than or equal to
7 kg)" in S5 series Manipulator Manual: Setup & Operation 4.3.1 WEIGHT Setting.
*3 In the case where the center of gravity is at the center of each arm. If the center of
gravity is not at the center of each arm, set the eccentric quantity using INERTIA
command.
*4 For details of the environmental requirements, refer to S5 series Manipulator Manual:
Setup & Operation 3.1 Environmental Conditions.
*5 Conditions of Manipulator at measurement are as follows:
Operating conditions: Under rated load, 6 arms simultaneous motion,
Measurement point:
104
maximum speed,
maximum acceleration, and duty 50%.
1000 mm apart from the rear of Manipulator
Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12