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Industrial Robot: SCARA Robots GX series Manual
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 GX10-B Arm #2 (500 mm from the center of rotation of Joint #2) with a load
weight of W = 2 kg
M = 1
L
= 400
2
L
= 500
M
2
2
W
=1 × 500
/400
=1.56→1.6 (rounded up)
M
W + W
= 2 + +1.6 = 3.6
M
Enter "3.6" for the [Hand Weight] parameter.
Symbol
Description
a
Shaft
Weight of the entire camera
b
M = 1 kg
c
W = 2 kg
d
Joint #2
2
2
= M(L
)
/(L
L
)
M
1
1+
2
2
2
= M(L
)
/(L
)
M
M
2
Rev.7
328
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