Setup & Operation 4. End Effectors
56
N6 Rev.2
The moment M (Nm) and inertia moment I (kgm
2
) when the volume of the load (end
ef work piece) is small can be obtained by the following formula.
M (Nm) = m(kg) × L (m) × g (m/s
2
)
I (kgm
2
) = m(kg) ×L
2
(m
2
)
m : Weight of load (kg)
L : Eccentric quantity of load (m)
g : Gravitational acceleration (m/s
2
)
T
L
Joint Rotation Center
Design the end effector so that the moment M and the inertia moment I do not exceed the
allowable load.
The eccentric quantity of load L should satisfy the following:
Less than 260 mm from the Arm #5 rotation center (160 mm or less from the flange)
Less than 160 mm from the Arm #6 rotation center
Example: When the load is 3 kg and the center of gravity is 120 mm from the flange:
m=3.0kg, L=120+100=220mm=0.220m
The moment M and the inertia moment are below the allowable load as
follows:
Moment M
: 3.0 kg × 0.220m × 9.8 m/s
2
=6.468Nm < 15.2Nm
Inertia moment I
: 3.0 kg × (0.220 m)
2
= 0.1452 kgm
2
< 0.42 kgm
2
Arm #6 Rotation Center
Load’s Center of Gravity
Flange
Arm #5 Rotation Center
[Unit: mm]
Summary of Contents for N6 Series
Page 1: ...Rev 2 EM187R3735F 6 Axis Robots N6 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual N6 series Rev 2 ...
Page 8: ...vi N6 Rev 2 ...
Page 14: ......
Page 27: ...Setup Operation 1 Safety N6 Rev 2 15 N6 A850 R C A D F G F E H G F B G F G F F F N6 A850 BR F ...
Page 34: ...Setup Operation 2 Specifications 22 N6 Rev 2 N6 A850 BR Cable direction Upward ...
Page 52: ...Setup Operation 3 Environment and Installation 40 N6 Rev 2 N6 A850 R Maximum motion range 802 ...
Page 66: ...Setup Operation 4 End Effectors 54 N6 Rev 2 N6 A850 R Unit mm ...
Page 104: ......
Page 274: ...Maintenance 4 Cable 262 N6 Rev 2 4 7 1 Signal Power cable ...
Page 275: ...Maintenance 4 Cable N6 Rev 2 263 ...
Page 276: ...Maintenance 4 Cable 264 N6 Rev 2 4 7 2 User Cable ...