Epson LS-B Series Manual page 178

LS20-B Manipulator 4. Setting of End Effectors
Load on the Arm
When you attach a camera or other devices to the arm, calculate the weight as the equivalent
of the shaft. Then, add this to the load and enter the total weight to the Weight parameter.
Equivalent Weight Formula
<Example> A "1 kg" camera is attached to the end of the LS20-B series arm (550 mm away from
the rotation center of Joint #2) with a load weight of "1 kg".
M=1
L =450
2
L =550
M
W
M
W+W
Enter "2.5" for the Weight Parameter.
160
When you attach the equipment near Arm #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 from rotation center of Joint #2 to center of gravity
M
of camera etc.
=1×550 2 /450 2 =1.494
→ 1.5 (round up)
=1+1.5=2.5
M
W = M (L
M
W = M (L
M
Shaft
Weight of
camera
M=1kg
L =450 mm
2
W=1kg
L =550 mm
M
LS-B series Rev.5
) 2 /(L +L ) 2
1 1 2
) 2 /(L ) 2
M 2
Joint #2