Epson LS20-BA04S

Setup & Operation 4. Setting of End Effectors
LS20-B Rev.4 39
Load on the Arm
When you attach a camera or other devices to the arm, calculate the weight as the equivalent
of the shaft. Then, add this to the load and enter the total weight to the Weight parameter.
Equivalent Weight Formula
When you attach the equipment near
Arm #2:
When you attach the equipment to the end of Arm #2:
W
M
= M (L
1
)
2
/(L
1
+L
2
)
2
W
M
= M (L
M
)
2
/(L
2
)
2
W
M
M
L
1
L
2
L
M
:
equivalent weight
:
weight of camera etc.
:
length of Arm #1
:
length of Arm #2
:
distance from rotation center of Joint #2 to center of gravity
of camera etc.
<Example>
A
“1 kg” camera is attached to the end of the LS20-B series arm (550
mm away from
the rotation center of Joint #2) with a load weight of “1 kg”.
M=1
L
2
=450
L
M
=550
W
M
=1×550
2
/450
2
=1.494
→ 1.5 (round up)
W+W
M
=1+1.5=2.5
Enter
“2.5” for the Weight Parameter.
Shaft
Weight of
camera
M=1kg
W=1kg
L
2
=450 mm
L
M
=550 mm
Joint #2