Epson RS Series Manual page 53

Load on the Shaft
The load (weight of the end effector and work piece) on the shaft can be set by Weight
parameter.
Enter a value into the [Weight] text box on the [WEIGHT] panel ([Tools]-[Robot Manager]).
EPSON
RC+
(You may also execute the Weight command from the [Command Window].)
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 "0.5 kg" camera is attached to the end of the RS series arm (250 mm
Automatic speed setting by Weight
(%) 140
120
100
100
80
60
40
20
0 0.5
RS series Rev.4
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 of camera etc.
M
away from the rotation center of Joint #2) with a load weight of "1 kg".
M = 0.5
L = 175
2
L = 250
M
W = 0.5×250
M
W+W =1+1.1=2.1
M
Enter "2.1" for the Weight Parameter.
100
100
1 1.5 2
RS3 RS4 Manipulator 4. Setting of End Effectors
2 /175 2 = 1.02 → 1.1 (round up)
100
2.5 3 3.5
W = M (L ) 2 /(L
M 1 1
W = M (L ) 2 /(L
M M
* The percentage in the graph
is based on the speed at
100
rated weight (1 kg) as 100%.
RS3-351*
RS4-551*
4 (kg)
Weight setting
+L ) 2
2
) 2
2
43