Epson ProSix S5 Series Manual page 65

Load on the Manipulators
The Manipulator can load valves or any other devices onto the following two points.
When you attach the equipment to the deck on the upper arm, convert its weight into
equivalent weight assuming that the equipment is attached to the end of the Arm #6.
Then, this equivalent weight added to the load will be a Weight parameter.
Calculate the Weight parameter by following the formula below and enter the value.
Weight Parameter Formula
S5 Rev.5
A point on the fore-end of the Arm #6
Upper arm deck
A
Upper Arm Deck
Weight parameter = M
w
M : Load on the fore-end of Arm #6 (kg)
w
W : Equivalent weight of the upper arm deck (kg)
a
W = m (L )²/ (L)²
a a a
m : Weight of the equipment on the upper arm deck
a
L : Length of the upper arm (mm)
L : Distance between the Joint #3 and the center of gravity of
a
the equipment on the upper arm deck (mm)
m
a
Setup & Operation 4. End Effectors
Load on the
Fore-end of Arm #6
View A
+ W
a
L
L
a
M
w
51