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Setup & Operation 4. End Effectors
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
<Example> The fore end of the Arm #6 is 730 mm (L) away from the Joint #3
52
Weight parameter = M
w
M
: Load on the fore end of Arm #6 (kg)
w
W
: Equivalent weight of the Arm #3 deck (kg)
a
W
: Equivalent weight of the Arm #5 deck (kg)
b
W
= M
(L
)²/ (L)²
a
a
a
W
= M
(L
)²/ (L)²
b
b
b
M
: Weight of the air valve on the Arm #3 deck
a
M
: Weight of the camera on the Arm #5 deck
b
L
: Length of the upper arm (315 mm)
L
: Distance between the Joint #3 and the center of gravity of
a
the air valve on the Arm #3 deck (mm)
L
: Distance between the Joint #3 and the center of gravity
b
of the camera on the Arm #5 deck (mm)
of C8-A1401*** (C8XL).
Load on the fore-end of Arm #6 is 5 kg (M
Load on the Arm #3 deck is 1.5 kg (M
The deck is 0 mm (L
Load on the Arm #5 deck is 1.0 kg (M
The deck is 690 mm (L
W
=1.5 × 0
2
/730
a
W
=1.0 × 690
b
M
+ W
+ W
w
a
b
Enter "5.9" for the Weight parameter.
+ W
+ W
a
b
) away from Joint #3.
a
) away from the Joint #3.
b
2
=0
2
/730
2
=0.89 → 0.9 (round up)
=5 + 0 + 0.9=5.9
).
w
).
a
).
b
C8 Rev.13
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