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Industrial Robot: SCARA Robots GX series Manual
for some unavoidable reason, the load or moment of inertia exceeds the rated value, or if eccentricity occurs, configure
parameters as described in the "Weight setting" and "Inertia setting."
These settings optimize the Manipulator's PTP motion, reduce vibration, and shorten operation times. This also works to curb
any persistent vibration that may occur when the hand and workpiece have a large moment of inertia.
You can also perform settings using the "Weight, Inertia, and Eccentricity/offset Measurement Utility".
For details, refer to the following manual:
"EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/offset Measurement Utility"
2.4.3.1 Weight Setting
CAUTION
The total weight of the hand and the workpiece must not exceed 4 kg. The GX4 series Manipulators are not
designed to work with loads exceeding 4 kg. Always set the value according to the load. Setting the hand
weight parameter to a value smaller than the actual weight may cause errors or impact that not only impair full
functionality but also shorten the life of the mechanical components.
The allowable load weight (hand and workpiece) in the GX4 series is 2 kg at the default rating and 4 kg at the maximum.
When the load weight exceeds the rating, change the setting for the hand weight parameter in the Weight statement. After the
setting is changed, the maximum speed and acceleration/deceleration of the Manipulator during PTP motion that correspond to
the "Hand Weight" are corrected automatically.
2.4.3.1.1 Weight of Load Attached to Shaft
The weight of the load (hand + workpiece) attached to the shaft can be set by the "Hand Weight" parameter in the Weight
statement.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Weight] panel, and enter the value in the [Weight] text box. (This can also be set using the
Weight statement in [Command Window].)
2.4.3.1.2 Weight of Load Attached to Arm
When a camera, valve, or other object is attached to the arm, its weight is converted to the equivalent weight of the shaft and
added to the load weight to set the "Hand Weight" parameter.
Equivalent weight formula
When mounting on the base of Arm #2: W
When mounting on the tip of Arm #2: W
W
: Equivalent weight
M
M: Weight of camera or other object
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 or other object
M
Example:
When a 1 kg camera is attached to the end of GX4 Arm #2 (180 mm from the center of rotation of Joint #2) with a load weight
of W = 1 kg.
M = 1
L
= 130
2
L
= 180
M
2
2
= M(L
)
/(L
L
)
M
1
1+
2
2
2
= M(L
)
/(L
)
M
M
2
Rev.7
85
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