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Industrial Robot: SCARA Robots GX series Manual
The allowable load weight (hand and workpiece) in the GX8 series is 4 kg at the default rating and 8 kg at the maximum.
When the load weight exceeds the rating, change the setting for the hand weight parameter in the Weight statement. After the
setting is changed, the maximum speed and acceleration/deceleration of the Manipulator during PTP motion that correspond to
the "Hand Weight" are corrected automatically.
3.4.3.1.1 Weight of Load Attached to Shaft
The weight of the load (hand + workpiece) attached to the shaft can be set by the "Hand Weight" parameter in the Weight
statement.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Weight] panel, and enter the value in the [Weight] text box. (This can also be set using the
Weight statement in [Command Window].)
3.4.3.1.2 Weight of Load Attached to Arm
When a camera, valve, or other object is attached to the arm, its weight is converted to the equivalent weight of the shaft and
added to the load weight to set the "Hand Weight" parameter.
If an external wiring unit (excluding cables) is installed near the user connector on the Arm #2 side, add 0.16 kg to the
equivalent weight conversion value of the shaft.
Equivalent weight formula
When mounting on the base of Arm #2: W
When mounting on the tip of Arm #2: W
W
: Equivalent weight
M
M: Weight of camera or other object
L
: Length of Arm #1
1
L
: Length of Arm #2
2
L
: Distance from rotation center of Joint #2 to center of gravity of camera or other object
M
Example:
When a 1 kg camera is attached to the end of GX8 Arm #2 (350 mm from the center of rotation of Joint #2) with a load weight
of W = 2 kg
M = 1
L
= 250
2
L
= 350
M
2
2
W
= 1 × 350
/250
= 1.96 → 2 (rounded up)
M
W + W
= 2 + 2 = 4
M
Enter "4" for the [Hand Weight] parameter.
2
2
= M(L
)
/(L
L
)
M
1
1+
2
2
2
= M(L
)
/(L
)
M
M
2
Rev.7
220
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