Epson ProSix S5 Series User Manual

Setup & Operation 4. End Effectors
S5 Rev.5 53
Restrictions on payload exceeding 5 kg (more than 5 kg and less than or equal to 7 kg)
Although the maximum payload of the S5 series Manipulator is 5 kg, you can increase the
payload up to 7 kg when you restrict the arm pose range of Arm #5 as shown below.
When the payload exceeds 5 kg, the arm pose of Arm #5 should be within the restricted
angle range shown in the following graph.
The graph shows the relation between the load and the Arm #5 restricted angel (A
1
)
measured vertically (in the direction of gravitational effect). The more the load on the
fore-end of Arm #6 increases, the more the restricted angle range narrows.
When the Manipulator operating direction is vertical to the working plane, the arm pose
restriction of the Arm #5 is equivalent to the tilt restriction of working plane (A
2
).
In the case of eccentric load, the restricted angle is an angle (B) forming with a vertical
line and a straight line passing through the center of gravity of load and the rotation center
of Arm #5.
The eccentric quantity of load should be within the allowable moment and the allowable
moment of inertia of Arms #4, #5, and #6.
Relation between load and Arm #5 restricted angle
Load on the Fore-end of Arm #6 (kg)
Arm #5 Restricted Angel (A
1
)
(No load on the deck
)
(deg.)
Center of
Gravity
B
Arm #4
Rotation Center of Arm #5
Arm #5
Arm #6
Load on the
Fore-end of
Arm #6
Vertical Line
Horizontal Plane
90 deg.
A
1
: Arm #5 Angle from
the Vertical Line
Working
Plane
A
2
: Working Plane
Angle from the
Horizontal Plane
Restricted Angle for Eccentric Angle
Relation between Arm #5 Angle and Working Plane Angle
Rotation Center
of Arm #5
Vertical Line
Load on the
Fore-end of
Arm #6
(A
1
= A
2
)

Epson ProSix S5 Series Specifications

General

Brand	Epson
Model	ProSix S5 Series
Category	Robotics
Language	English