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C8 Manipulator 4. End Effectors
Example: Calculation of the critical dimension of the load (a) when the load is 8 kg.
Critical Dimension of Load
Load's Center of Gravity
4.3.1 WEIGHT setting
■ Set the total weight of the end effector and the work piece smaller than the
maximum payload.
The C8 series Manipulators can operate without limitations on the condition unless
and until the load exceeds this maximum payload.
parameters of the WEIGHT command according to the load. Setting a value that
CAUTION
is smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) for C8 series Manipulators is
as follows:
Change the setting of the Weight parameter according to the load.
After changing the Weight parameter setting, the maximum acceleration/deceleration and
speed of the robot system corresponding to the load is set automatically.
Setting method of Weight parameters
Select [Tools]-[Robot Manager]-[Weight] panel and set the value in [Weight:].
EPSON
RC+
You may also execute the Weight command from [Command Window].
128
Center of gravity by the allowable moment control:
16.6 N·m/(8 kg×9.8 m/s
Center of gravity by the allowable inertia moment control:
(0.47 kgm
2
/8 kg)
Due to the allowable moment control, center of gravity for the load limit is 212
mm from the Arm #5 rotation center.
Distance from the flange to the center of gravity for the load limit
a = 212 mm－80 mm = 132 mm
Arm #6
Rotation Center
Rated
Maximum
3 kg
8 kg
) = 0.212 m = 212 mm
2
1/2
= 0.242 m = 242 mm
Flange
Arm #5
Rotation Center
[Unit: mm]
Always set the Weight
C series Rev.2
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