Weight Setting - Epson C Series Manual

C4 Manipulator 4. End Effectors
Moment
A moment is a necessary torque (holding torque) to counteract the gravity affecting the load.
Design an end effector so that the eccentric quantity at the position where the load is attached
is within the allowable moment.
A maximum torque (T) is calculated by the following formula.
T = m (kg) × L (m) × g (m/s
m: Weight of load (kg)
L: Eccentric quantity of load (m)
g: Gravitational acceleration (m/s
Max. Eccentric Quantity of Load
(Distance between the joint rotation center and the load's center of gravity)
Axis WEIGHT 1 kg WEIGHT 2 kg
#4
#5
#6
(The maximum eccentric quantity of load is restricted to 200 mm or less.)

4.3.1 WEIGHT setting

■ Set the total weight of the end effector and the work piece smaller than the
maximum payload.
The C4 Manipulators can operate without limitations on the condition unless and
until the load exceeds this maximum payload.
Manipulator exceeds the maximum payload, refer to the section "Restrictions on
payload exceeding the maximum payload" in the later part of this section for
details.
CAUTION
Always set the Weight parameters of the WEIGHT command according to the
load.
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 C4 Manipulators is as
follows:
When the load exceeds the rating, change the setting of the Weight parameter.
After changing the Weight parameter setting, the maximum acceleration/deceleration and
speed of the robot system corresponding to the load is set automatically.
* If the payload exceeds the maximum payload, refer to the section "Restriction on payload
exceeding the maximum payload" in the Setup & Operation 4.3.1 WEIGHT Setting.
40
)
2
200 mm 200 mm
200 mm 200 mm
200 mm
150 mm
Setting a value that is smaller than the actual load may cause errors,
Rated Maximum
1 kg 4(5) kg*
)
2
mg
WEIGHT 3 kg
150 mm
150 mm
100 mm
L
Joint Rotation Center
WEIGHT 4 kg
112 mm
112 mm
75 mm
When the payload of the
C series Rev.2