Weight Setting
CAUTION
- Set the total weight of the hand and the workpiece smaller than the maximum payload. The VT6‐B series are not designed to work with a load exceeding the allowable value.
Always set the Weight parameters of the WEIGHT command according to the load. Setting 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 acceptable weight capacity (hand + workpiece) for VT6-B series is as follows:
| Rated | Maximum |
|---|---|
| 3 kg | 6 kg |
Change the setting of the Weight parameter according to the load. After changing the Weight parameter setting, the maximum acceleration/deceleration and speed of the robot system is set automatically.
Setting method of Weight parameters
Select [Tools]-[Robot Manager]-[Weight] panel and set the value in [Weight:]. You may also execute the Weight command from [Command Window].
Load on the Manipulator
Mounting location of the load
| Symbol | Description |
|---|---|
| a | Arm #5 deck |
| b | Arm #3 deck |
| c | Load on the fore end of Arm #6 |
When you attach the equipment to the decks on the upper arm, convert its weight into equivalent weight assuming that the equipment is attached to the end of Arm #6. Then, this equivalent weight added to the load will be a Weight parameter.
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
Weight Parameter=Mw+ Wa + Wb
- Mw: Payload on the fore end of Arm #6 (kg)
- Wa: Equivalent weight of Arm #4 deck (kg)
- Wb: Equivalent weight of Arm #5 deck (kg)
- Wa=Ma (La)2/ (L)2
- Wb=Mb (Lb)2/ (L)2
- Ma: Weight of the air valve on Arm #3 deck (kg)
- Mb: Weight of the camera on Arm #5 deck (kg)
- L: Length of the upper arm (481.5 mm)
- La: Distance between Joint #4 and the center of gravity of the air valve on Arm #3 deck (mm)
- Lb: Distance between the Joint #3 and the center of gravity of the camera on Arm #5 deck (mm)
[Example]
When the following load is attached to the VT6-B901S* (VT6-B) with a payload Mw = 5 kg attached to the tip of Arm #6 (L = 481.5 mm from the Joint #3):
- Load on Arm #4 deck is 1.5 kg (Ma). The deck is 37.5 mm (La) away from the Joint #3.
- Load on Arm #5 deck is 1.0 kg (Mb). The deck is 400 mm (Lb) away from the Joint #3.
Wa=1.5 × 37.52/481.52=0.009 → 0.0 (round down)
Wb=1.0 × 3902/481.52=0.65 → 0.7 (round up)
Mw+Wa+Wb=5+0.01+0.0=5.7
The Weight parameter is “5.7”.
Automatic speed setting by Weight parameter
The percentages on the graph are the ratios when the acceleration and speed are set to 100% when the weight parameter value is set to the rated value (3 kg).
KEY POINTS
Maximum AccelS setting value varies depending on Weight setting value. For details, refer to the following.
Appendix A: Specifications Table