Epson ProSix S5 Series - Page 66

Setup & Operation 4. End Effectors
52 S5 Rev.5
<Example>
The fore
-end of Arm #6 is 385 mm (L) away from the Joint #3.
Load on the for
e-end of Arm #6 is 1 kg (M
w
).
Load on the upper arm deck is 1.5 kg (m
a
).
The deck is 60 mm (L
a
) away from Joint #3.
W
a
= 1.5 × 60
2
/ 385
2
= 0.036 → 0.04 (round up)
M
w
+ W
a
= 1 + 0.04 = 1.04
Enter “1.04” for the Weight parameter.
Automatic speed setting by Weight parameter
Speed
Acceleration /
Deceleration
Weight Parameter
* The percentage in the graph is based on the speed at rated weight (2 kg) as 100%.
* When the payload of the Manipulator is more than 5 kg and less than or equal to 7 kg,
refer to the section “Restrictions on payload exceeding 5 kg (more than 5 kg and less
than or equal to 7 kg)” in the later part of this section for details.