Designing End-Effectors; Mass Of End-Effector; Center Of Gravity Position Of End-Effector; Figure 2-6. Allowable Range Of Center Of Gravity Position Of End-Effector - Omron Adept Viper s1300 User Manual

2.8

Designing End-Effectors

Design an end-effector such that it is in compliance with items described in this section.

Mass of End-Effector

Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot. The total mass includes
the wiring, piping, etc.
Maximum total mass of end-effector (including workpiece) must be less than or equal to
maximum payload capacity (10 kg).

Center of Gravity Position of End-Effector

Design an end-effector so that the center of gravity position of the end-effector (including
workpiece) is within the range shown in
Allowable range of center of
gravity position

Figure 2-6. Allowable Range of Center of Gravity Position of End-effector

CAUTION: If the end-effector design precautions are not
observed, the clamped parts of the robot unit may become
loose, rattle or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.
190
100
90
Adept Viper s1300 Robot User's Guide, Rev B
Figure 2-6.
Center of rotation of J5
Center of rotation of J4 and J6
Designing End-Effectors
29