Epson ProSix S5 Series - Page 65

Setup & Operation 4. End Effectors
S5 Rev.5 51
Load on the Manipulators
The Manipulator can load valves or any other devices onto the following two points.
A point on the fore-end of the Arm #6
Upper arm deck
A
Load on the
Fore-end of Arm #6
Upper Arm Deck
View A
When you attach the equipment to the deck on the upper arm, convert its weight into
equivalent weight assuming that the equipment is attached to the end of the Arm #6.
Then, this equivalent weight added to the load will be a Weight parameter.
Calculate the Weight parameter by following the formula below and enter the value.
Weight Parameter Formula
Weight parameter = M
w
+ W
a
M
w
W
a
: Load on the fore
-end of Arm #6 (kg)
:
Equivalent weight of the upper arm deck (kg)
W
a
= m
a
(L
a
)²/ (L)²
m
a
L
L
a
: Weight of the equipment on the
upper arm deck
: L
ength of the upper arm (mm)
: D
istance between the Joint #3 and the center of gravity of
the equipment on the upper arm deck (mm)
L
a
L
m
a
M
w