Epson C12 Series Manipulator Manual page 54

Setup & Operation 4. End Effectors
The moment M (Nm) and inertia moment I (kgm
+ work piece) is small can be obtained by the following formula.
M (Nm) = m(kg) × L (m) × g (m/s
I (kgm
m : Weight of load (kg)
L : Eccentric quantity of load (m)
g : Gravitational acceleration (m/s
The figure below shows distribution of the center of gravity when the volume of the load
(end effector + work piece) is small.
Design the end effector so that the center of gravity is within the allowable moment.
If the volume of the load is large, calculate the moment and inertia moment by referring to
Setup & Operation 4.3.2 INERTIA setting - Calculating the Inertia Moment.
300
250
200
150
100
50
0
0
Max. Eccentric Quantity of Load
(Distance between the joint rotation center and the load's center of gravity)
Joint
#4
#5
#6
When calculating the critical dimension of the load using the allowable moment and inertia
moment, the calculated value represents a distance from the Arm #5 rotation center, not the
distance from the flange. To calculate the distance from the flange to the load's center of
gravity, subtract the distance from the center of the Arm #5 rotation center to the flange (=80
mm) as shown in the example below.
40
2 ) = m(kg) × L 2 (m)
50 100
Center of gravity of load from the Arm #5 rotation center [mm]
1 kg 3 kg
300 mm 300 mm
300 mm 300 mm
300 mm 258 mm
2 ) when the volume of the load (end effector
)
2
)
2
T
150 200
5 kg 8 kg 10 kg
300 mm 296 mm 255 mm
300 mm 296 mm 255 mm
200 mm 125 mm 100 mm
L
Joint Rotation Center
1kg
2kg
3kg
4kg
5kg
6kg
7kg
8kg
9kg
10kg
11kg
12kg
250 300
12 kg
213 mm
213 mm
83 mm
C12 Rev.3