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Setup & Operation 4. Setting of End Effectors
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
Weight parameter =M
<Example> The fore end of the Arm #6 is 480mm (L) away from the Joint #3
46
+ W
w
M
: Load on the fore end of Arm #6 (kg)
w
W
: Equivalent weight of the Arm #4 deck (kg)
a
W
: Equivalent weight of the Arm #5 deck (kg)
b
2
2
W
=M
(L
)
/(L)
a
a
a
2
2
W
=M
(L
)
/(L)
b
b
b
M
: Weight of the air valve on the Arm #4 deck
a
M
: Weight of the camera on the Arm #5 deck
b
L
: Length of the upper arm (480 mm)
L
: Distance between the Joint #3 and the center of gravity of
a
the air valve on the Arm #4 deck (mm)
L
: Distance between the Joint #3 and the center of gravity
b
of the camera on the Arm #5 deck (mm)
of VT6-A901S* (VT6L).
Load on the fore-end of Arm #6 is 5 kg (M
Load on the Arm #4 deck is 1.5 kg (M
The deck is 150 mm (L
Load on the Arm #5 deck is 1.0 kg (M
The deck is 390 mm (L
2
W
=1.5×150
/480
a
2
W
=1.0×390
/480
b
M
+W
+W
=5+0.2+0.7=5.9
w
a
b
Enter "5.9" for the Weight parameter.
+ W
a
b
).
a
) away from Joint #3.
a
).
b
) away from the Joint #3.
b
2
=0.15 → 0.2 (round up)
2
=0.66 → 0.7 (round up)
).
w
VT Rev.1
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