Epson LS-B Series Manual page 61

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 LS6-B series arm (375 mm away from
the rotation center of Joint #2) with a load weight of "1 kg".
M=1
L 2 =275
L M =375
W M =1×375
W+W M =1+1.9=2.9
Enter "2.9" for the Weight Parameter.
LS-B series Rev.5
When you attach the equipment the rotation center of 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 from rotation center of Joint #2 to center of gravity
M
of camera etc.
2 /275 2 =1.85 → 1.9 (round up)
LS3-B LS6-B Manipulator 4. Setting of End Effectors
Weight of
camera
M=1kg
W=1kg
W = M (L ) /(L +L
2
M 1 1 2
W = M (L ) /(L )
2 2
M M 2
Shaft
Joint #2
L =275 mm
2
L =375 mm
M
43
)
2