Epson C Series Manual page 59

Automatic speed setting by Weight parameter (C4-A601**)
Automatic speed setting by Weight parameter (C4-A901**)
* The percentage in the graph is based on the speed at rated weight (1 kg) as 100%.
* If the payload exceeds the maximum payload, refer to the section "Restriction on
payload exceeding the maximum payload" in "4.3.1 WEIGHT Setting".
Restrictions on payload exceeding the maximum payload
Maximum payload for C4 Manipulators is as follows:
Payload can be increased by restricting the arm posture of the Arm #5 downward.
C series Rev.2
Weight Parameter
Weight Parameter
Max. Payload Max. Payload with Pose Restriction
4 kg
C4 Manipulator 4. End Effectors
5 kg
Acceleration / Deceleration
Speed
Acceleration / Deceleration
Speed
43