Precautions When Designing The End-Effectors - Denso VP-G Series General Information Manual

3.5

Precautions When Designing the End-effectors

Design an end-effector such that it is in compliance with items (1) to (3) described
below.
(1) Mass of end-effector
(2) Center of gravity position of end-effector
VP-6242G
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.
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.
Max. total mass of end-effector (inc. workpiece)  Max. payload capacity
Design an end-effector so that the center of gravity position of the
end-effector (including workpiece) is within the specified range.
Allowable Range of Center of Gravity Position of End-effector
Chapter 3 Specifications of the Robot Unit
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VP-5243G