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6.5
Gripping force of end effector
The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece
weight and reaction force applied to the workpiece during robot operation. The reaction force applied to the
workpiece during operation can be calculated from the acceleration applied to the end effector attachment.
The maximum acceleration on the end effector attachment of each robot model is listed in the table below.
When the workpiece position is offset to the end effector attachment, the accelerations Amax and AXYmax
become larger by an amount equal to the offset versus the arm length. When the R-axis rotates during
operation, this acceleration ARmax must be taken into account.
w
WARNING
THE GRIPPING FORCE OF THE END EFFECTOR MUST HAvE A SUFFICIENT EXTRA MARGIN OF STRENGTH TO PREvENT THE
WORKPIECE FROM COMING LOOSE AND FLYING OFF DURING ROBOT OPERATION. IF THE GRIPPING FORCE IS TOO
WEAK, THE WORKPIECE MAY COME LOOSE AND FLY OFF CAUSING ACCIDENTS OR INjURIES.
Maximum acceleration during robot operation
2
Amax(m/sec
)
A XY max(m/sec
21
Maximum acceleration on end effector attachment
Amax
(centrifugal acceleration)
2
)
A Z max(m/sec
87
25
A
max
R
A
max
XY
(Tangential acceleration)
Azmax
2
2
)
A R max(rad/sec
)
1000
2
23213-F6-00
2-19
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