Attaching Cameras And Air Valves; Weight And Inertia Settings; Weight Setting - Epson RS Series Manual

RS3 RS4 Manipulator 4. Setting of End Effectors

4.2 Attaching Cameras and Air valves

Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching
NOTE

cameras, air valves, and other equipment.
RS3-351*
- When cameras and air valves are attached, it can limit the motion range by wires and
pneumatic tubes. Take extra care when designing and attaching.
- The Joint #4 (rotating) motion range is ±720 degrees.
wires/tubes caught in the end effector.

4.3 Weight and Inertia Settings

To ensure optimum Manipulator performance, it is important to make sure that the load
(weight of the end effector and work piece) and moment of inertia of the load are within the
maximum rating for the Manipulator, and that Joint #4 does not become eccentric.
If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow
the steps below, "4.3.1Weight Setting" and "4.3.2 Inertia Setting" to set parameters.
Setting parameters makes the PTP motion of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads.
reduces persistent vibration produced when the moment of inertia of the end effector and
work piece is larger than the default setting.

4.3.1 Weight Setting

■ The total weight of the end effector and the work piece must not exceed RS3-
351*: 3 kg, RS4-551*: 4 kg. The RS series Manipulators are not designed to
work with loads exceeding RS3-351*: 3 kg, RS4-551*: 4 kg.
Weight parameters according to the load. Setting a value that is smaller than the
CAUTION
actual load may cause errors, excessive shock, insufficient function of the
Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) in RS series is 1 kg at the
default rating and RS3-351*: 3 kg, RS4-551*: 4 kg at the maximum.
(weight of the end effector and work piece) exceeds the rating, change the setting of Weight
parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system at PTP motion corresponding to the "Weight Parameter" is set automatically.
42
RS4-551*
Be careful not to let the
[Unit : mm]
4-M4 depth 5
4-M4 depth 5
In addition, it
Always set the
When the load
RS series Rev.4