Setup & Operation 4. Setting of End Effectors
VT Rev.1 43
Example: Calculation of the critical dimension of the load (a) when the load is 6 kg.
Center of gravity by the allowable moment control:
12.0 Nm/(6 kg×9.8 m/s
2
) = 0.204 m = 204 mm
Center of gravity by the allowable inertia moment control:
(0.3 kgm2/6 kg)1/2 = 0.223 m = 223 mm
Due to the allowable moment control, center of gravity for the load limit is 212 mm from
the Arm #5 rotation center.
Distance (a) from the flange to the center of gravity for the load limit
= 204 mm－80 mm = 124 mm
Critical Dimension of Load
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