Payload And Gravity Offset Consideration; Safety Distance And Scenario - Techman Robot TM Palletizing Operator User Manual

Payload and Gravity Offset Consideration

The following graph depicts the relationship between TM12 robot arm payload and the center of gravity
offset. As shown in the graph below, the maximum payload weight decreases as the distance of gravity
offset increases. For instance, TM12 robot arm can safely pick up or put down a heavy workpiece up to
12 ㎏ within 100 ㎜ of gravity offset distance. If the distance is extended to 600 ㎜, it is safer that TM12
robot arm picks up or puts down a workpiece at approximately 4 ㎏.
Figure 12: Relationship between Payload and the Center of Gravity Offset (㎜)
WARNING:
Use the total weight of the end-effector and the payload to stay within the payload rating of
the robot. Ensure that the system never exceeds that maximum payload. Users should
perform a full risk assessment that includes the end-effector and payload samples, to ensure
the safety of the entire system.

Safety Distance and Scenario

Clearances to avoid quasi-static contact for robot:
1.
Reserve a distance of 500 ㎜ around the pallet and around the picking position as shown below.
TM Palletizing Operator User's Manual
system exceeds the external force value at the tool center point, the robot will perform a
category 2 stop. In this condition, applied forces will exceed this value. Therefore,
clearly understand the amount of the external force applied before the robot comes to a
complete stop. The extent this value will be exceeded will increase as the robot speed
increases. This cannot be the primary risk mitigation for human-robot collision.
Product Version: 1.1 Document Version: 1.2 51