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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 G10 series arm (450 mm
G10 / G20 Rev.20
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.
away from the rotation center of Joint #2) with a load weight of "2
kg".
M=1
L
=400
2
L
=450
M
2
W
=1×450
/400
M
W + W
=2+1.3=3.3
M
Enter "3.3" for the Weight Parameter.
Setup & Operation 4. Setting of End Effectors
2
=1.26 → 1.3 (round up)
2
2
W
= M (L
)
/(L
+L
)
M
1
1
2
2
2
W
= M (L
)
/(L
)
M
M
2
67
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