OnRobot YASKAWA 3FG15 User Manual page 199

Hardware Specification
RG6
Coordinate system
* Mounted at 0˚
Screwdriver
Coordinate system
SG
Without any Silicone Tool, only the SG Base Part with spindle in.
Coordinate system
With Silicone Tool Type A on (SG-a-S/H).
Coordinate system
TCP [mm] Center of Gravity [mm] Weight
X=0 cX=0
Y=0 cY=0
Z=250 cZ=90
TCP [mm] Center of Gravity [mm] Weight
X=153 cX= 0
Y=0 cY= 4
Z=81 cZ= 50
TCP [mm] Center of Gravity [mm] Weight
X=0 cX=-13
Y=0 cY=-5
Z=113 cZ=31
TCP [mm] Center of Gravity [mm] Weight
X=0 cX=-12
Y=0 cY=-5
Z=154 cZ=45
1.25 kg
2.76 lb
2.5 kg
5.51 lb
0.77 kg
1.69 lb
0.932 kg
2.05 lb
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