Figure 14: Relationship Between Payload And The Center Of Gravity Offset In Tm5S / Tm5S-M / Tm5S-X; Figure 15: Relationship Between Payload And The Center Of Gravity Offset In Tm7S / Tm7S-M / Tm7S-X - Omron TM Robot S Series Hardware Installation Manual

TM5S / TM5S-M / TM5S-X

Figure 14: Relationship between Payload and the Center of Gravity Offset in TM5S / TM5S-M / TM5S-X

TM7S / TM7S-M / TM7S-X

Figure 15: Relationship between Payload and the Center of Gravity Offset in TM7S / TM7S-M / TM7S-X

Refer the table below for the rated torque and the limit of repeated peak torque of the robot. Exceeding
torque may reduce the life of the robot or damage the robot.
Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 29