Chapter 1 – Description
D18326204C - 11/2004
15
1.5.
LOAD CAPACITY – MECHANICAL INTERFACE
Mechanical interface
End-effector
The end-effector is not supplied with the robot arm assembly; its design depends on the robot’s specific
applications. All studies can be undertaken in cooperation with STÄUBLI to obtain optimum performance
without exceeding the robot arm assembly load limits.
The end-effector is installed on the mechanical interface of the wrist dimensions of which are given on
figure
.
Attachment by 4 M6 screws item
, Class 12-9, torque 16.7 Nm ± 1.2 Nm.
Indexing by pin item
, diameter 6.
Mechanical interface designation:
ISO 9409 - 1 - A40 as per Standard ISO 9409 - 1 : 1996 (F)
(except the localization of the 4 M6 threaded holes)
1.5.1. LOAD CAPACITY
(figure 1.5)
Load characteristics:
Load center of gravity position
: z = 150 mm from centerline of joint 5 and x = 75 mm from centerline of
joint 6
(figure 1.5).
(1) in all configurations and taking maximum inertias into account. See table below.
(2) under reduced speed and acceleration conditions:
For CS7B: SP60, ACC(8) 50, 50
For CS8: VEL = 60%, ACC = 30%, DEC = 30%
CAUTION:
Length of end-effector attaching screws is limited to avoid all interference with the wrist
(figure 1.5).
Load capacity
Standard arm
Long arm
At nominal speed
(1)
6 kg
3.5 kg
At reduced speed
(1)
9 kg
6 kg
In some configurations (consult
us)
12 kg
9 kg
NOMINAL INERTIAS (kg.m²)
MAXIMAL INERTIAS (kg.m²)
(2)
STANDARD ARM
LONG ARM
STANDARD ARM
LONG ARM
For joint 5
0.135
0.080
0.675
0.400
For joint 6
0.034
0.020
0.170
0.100
CAUTION:
The nominal values can be exceeded to a certain extent but imply a limitation to the
speed and the acceleration of the arm. If these limits are to be exceeded, please consult
STÄUBLI.
1
2
B
4
B
3
B
M
Summary of Contents for 90B family
Page 1: ...St ubli Faverges 2004 Arm RX series 90B family Characteristics D18326204C 11 2004...
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Page 7: ...Chapter 1 Description D18326204C 11 2004 7 CHAPTER 1 DESCRIPTION...
Page 8: ...8 D18326204C 11 2004 Figure 1 1 B A C D E F 3 4 5 2 1 6 RX 90 RX 90 R...
Page 10: ...10 D18326204C 11 2004 Figure 1 2 Figure 1 3...
Page 12: ...12 D18326204C 11 2004 Figure 1 4...
Page 14: ...14 D18326204C 11 2004 Figure 1 5...
Page 16: ...16 D18326204C 11 2004 Figure 1 6 Effective tapped depth 8 mm...
Page 18: ...18 D18326204C 11 2004 Figure 1 7 Figure 1 8 Figure 1 9 Figure 1 10...
Page 22: ...22 D18326204C 11 2004 Figure 1 13...
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Page 26: ...26 D18326204C 11 2004 Figure 1 15 Figure 1 16 11 1...
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Page 31: ...Chapter 2 On site preparation D18326204C 11 2004 31 CHAPTER 2 ON SITE PREPARATION...
Page 32: ...32 D18326204C 11 2004 Figure 2 1...
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Page 35: ...Chapter 3 Installation D18326204C 11 2004 35 CHAPTER 3 INSTALLATION...
Page 36: ...36 D18326204C 11 2004 Figure 3 1 Figure 3 2 Figure 3 3 1 5 X L Y 2 P 7 H 6 3 4...
Page 38: ...38 D18326204C 11 2004 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 6 3 5 7 3...
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