Epson N6 Series - Page 70

Setup & Operation 4. End Effectors
58 N6 Rev.2
<Example>
The fore
end of the Arm #6 is 610 mm (L) away from the Joint #3
of
N6-A1000**
Load on the fore
-end of Arm #6 is 3.0 kg (M
w
).
Load on the
Arm #3 deck is 1.0 kg (M
a
).
The deck is
120 mm (L
a
) away from Joint #3.
Load on the
Arm #5 deck is 0.5 kg (M
b
).
The deck is
550 mm (L
b
) away from the Joint #3.
W
a
=1.0×120
2
/610
2
=0.039
W
b
=0.5×550
2
/610
2
=0.41
M
w
+W
a
+W
b
=3.0+0.039+0.41=3.449 → 3.5 (round up)
Enter “3.5” for the Weight parameter.