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APAS sensor head | About this product
Bosch Rexroth AG, Edition 11.2020, 3 842 565 042
4.5.6 Faulty CDE triggering due to inertia
The pendulum plate of the CDE is held in its position by magnets and
the spring assembly. With high acceleration or abrupt deceleration,
the inertia of the end effector may lead to deflection of the pendulum
plate. The effect is intensified the further the center of mass of the end
effector or the workpiece is away from the pendulum plate.
The traverse velocity has to be adjusted so that the triggering force of the
CDE is not reached.
The maximum inertia for axis 5 is 0.324 kg*m², with a weight of 2 kg and
the center of mass distance of 80 mm to the robot flange.
The maximum inertia for axis 6 is 0.139 kg*m², with a weight of 2 kg and
the center of mass distance of 80 mm to the robot flange.
Maximum admissible velocities with corresponding load (typical values)
Fig. 9: Distance of the center of mass to the pendulum plate
In test series, the CDE was moved laterally in the direction with the
lowest triggering threshold and stopped in different stop categories.
The test weights were mounted so that their center of gravity was
positioned centrally to the pendulum plate with a distance of 80 mm.
If the robot exceeds the determined velocities, the CDE proximity
switches are triggered.
With smaller distance to the center of gravity, higher velocities are
possible. With a larger distance, the velocity has to be reduced.
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