Epson VT Series Manipulator Manual page 59

Example: Calculation of the critical dimension of the load (a) when the load is 6 kg.
Due to the allowable moment control, center of gravity for the load limit is 212 mm from
the Arm #5 rotation center.
Critical Dimension of Load
Load's Center of Gravity
VT Rev.1
Center of gravity by the allowable moment control:
12.0 Nm/(6 kg×9.8 m/s
Center of gravity by the allowable inertia moment control:
(0.3 kgm2/6 kg)1/2 = 0.223 m = 223 mm
Distance (a) from the flange to the center of gravity for the load limit
= 204 mm－80 mm = 124 mm
Arm #J6
Rotation Center
Flange
Setup & Operation 4. Setting of End Effectors
2
) = 0.204 m = 204 mm
Arm #J5
Rotation Center
[Unit: mm]
43