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AdeptSix 300CR Robot Instruction Handbook, Rev. A 51
End of Arm Tooling 5
5.1 Allowable Wrist Load
The allowable wrist load is 3 kg. If force is applied to the wrist instead of the load, force on
Axes 4, 5, and 6 should be within the values shown in Table 5-1. Contact your Adept
representative for further information or assistance.
When the volume load is small, refer to the moment arm rating shown in Figure 5-1.
The allowed total inertia is calculated when the moment is at the maximum. Contact your
Adept representative when:
• Only load moment is small and inertia moment is large
• The load mass is combined with an outside force
Figure 5-1. Moment Arm Rating
Table 5-1. Moment and Total Inertia
Axis
Moment N·m (kgf·m)
a
a
Values that appear inside parentheses are given in gravitational units.
GD
2
/4 Total Inertia kg·m
2
Axis 4 5.39 (0.55) 0.1
Axis 5 5.39 (0.55) 0.1
Axis 6 2.94 (0.3) 0.03
90
Load Gravity Position
Axis 6 Rotation
Centerline
Axis 5 Rotation
Centerline
L
Axis 5
L
Axis 6
L
(mm)
Axis6
L
(mm)
Axis5
200
100
0
100
200
W=1.5 kg
W=3 kg
300