SETTING OF END EFFECTOR
30
Fig 3.3 Dimensions for attaching cameras and valves (ER20)
3.2.1.
Equivalent weight
When you attach a camera or valve to the arm, calculate the weight as the equivalent of the shaft.
Then add this to the load. Equivalent weight formula is shown below.
When you attach the equipment near Arm #2:
𝑊
𝑀
= 𝑀(𝐿
1
)
2
/(𝐿
1
+ 𝐿
2
)
2
When you attach the equipment to the end of Arm #2:
𝑊
𝑀
= 𝑀(𝐿
𝑀
)
2
/(𝐿
2
)
2
𝑊
𝑀
：
equivalent weight
𝑀
：
weight of camera etc.
𝐿
1
：
length of Arm #1
𝐿
2
：
length of Arm #2
𝐿
𝑀
：
distance from rotation center of Joint #2 to center of gravity
Example:
Summary of Contents for SCARA ER Series
Page 1: ......
Page 2: ...ESTUN SCARA Robot MECHANICAL UNIT OPERATOR S MANUAL M 0601EN 03...
Page 61: ...49...
