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Chapter 5 - End of Arm Tooling
60 AdeptSix 300CR Robot Instruction Handbook, Rev. A
= 0.002 = Approx. 0.010
lz = 3*((100-100)²+(50-(-83))²)* 10
-6
+ 6*((100-100)²+((-150)-(-83))²)* 10
-6
= 0.080 = Approx. 0.100
Tooling Details:
• W:10.000 kg
• Xg:100.000 mm
• Yg:-83.333 mm
• Zg:60.000 mm
• lx:0.100 kg.m²
• ly:0.010 kg.m²
• lz: 0.100 kg.m²
5.5 Mounting Equipment - Allowable Load
When peripheral equipment is attached to Axis 3, the following conditions must be
observed:
The allowable load on Axis 3 is a maximum of 4 kg, including the wrist load.
For instance, when the mass installed at the wrist point is 3 kg, the mass which can be
installed on the upper arm becomes 1 kg.
Figure 5-9. Installing Peripheral Equipment
A
119
Axis 3 Rotation Center
49
2-M6XP1.0 Tapped
Depth 12 mm
View A
45