Attaching A Camera, Valve, And Other Devices - Epson ES Series Manipulator Manual

Part 1: Setup & Operation

6. Attaching a Camera, Valve, and Other Devices

<Example> A 1kg camera was attached to the end of the arm (340 mm from the rotation
Arm #2 has eight threaded holes. Use these holes for attaching cameras, valves, and other
equipment. See Figure 10 in 7. External Dimensions for information on dimensions.
A:6-M4 depth 8
35
Figure 19. Position of threaded holes in Arm #2
When you attach a load to the arm, you must consider WEIGHT parameters as explained in
the section 5.2. When you attach a camera or other devices to the shaft, enter the total
weight of the end effector, work piece and the attached device to the parameter. When you
attach a camera or other device to the arm, calculate the weight as equivalent weight of
Joint #3, add this to the load weight.
Refer to section 5.2 The end effector and acceleration / deceleration for details on
WEIGHT parameters.
Equivalent weight is found using the formula below.
When you attach the equipment near Joint #2
When you attach the equipment to the end of Arm #2
W : equivalent weight
M
M : weight of camera, etc.
L : length of Arm #1
1
L : length of Arm #2
2
L : distance form rotation center of Joint #2 to center of gravity of camera, etc.
M
center of Joint #2) of an ES with a load weight of W = 2kg.
M = 1, L
2
= 1 × 340
W
M
W + W
M
Enter 4.1 as WEIGHT parameter. Refer to section 5.2 for the method of
setting WEIGHT parameter.
6. Attaching a Camera, Valve, and Other Devices
B:4-M4 depth 8
30 50
20
Height from the base-installed surface
A
ES***S 378
ES***C/P 379
EC***S 399
EC***C/P 400
= 235, L = 340
M
2 2
= 2.09 → 2.1 (rounded up)
/ 235
= 2 + 2.1 = 4.1
72(ES)
82(EL)
B
383
384
404
405
[unit: mm]
(bottom side)
2
: W = M (L ) / (L
M 1
2
: W = M (L ) / (L
M M
2
+L )
1 2
2
)
2
31