ROBOTIQ Hand-E C10 Instruction Manual page 106

106
Hand-E C10 diameter range
The Hand-E-C10 is provided with extender and stepped finger. As explained in the installation section, finger can be mounted in 2
different orientations and finger extender allow 2 positions. Here's a summary of the diameter range combined with the gripper's
accessory.
Note that the finger step 1 is the one nearest the gripper rack.
Maximum payload determination
The maximum payload is defined as the situation that created the highest load on the gripper. The gripper payload is limited in
different ways. To ensure that the max payload is not exceeded, assessment and validation based on the following criteria must be
done.
Validate load and eccentricity
l
Validate friction grip payload
l
Load and eccentricity
The maximum load of the Gripper 10kg @2g (196 N) has to account for the entire robot trajectory, namely:
The maximum acceleration of the robot (and potential decelerations, e.g., due to a stop)
l
The direction of gravity in relation to the robot's trajectory
l
The forces exerted on the Gripper (e.g., when putting down a grasped object on a surface using the Gripper)
l
The acceleration (or deceleration) times the mass of the object is a force exerted on the Gripper.
The sum of all forces must not exceed the maximum load of the Gripper (196 N).
Robotiq Hand-E C10 Gripper Instruction Manual