Answered Payload Calculation

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Hello  ,

First we need to see the max. load capacity at the wrist. Which is 7kg. 

Consider a cube that has mass of 5KG. The EOAT will be a (4 in) which is holding this cube. 

1. Acceptable Load – based on robot inertia

When the weight is mounted directly to the robot face plate the center of gravity is 0.05 m and the inertia on the robot is 10-15% of the maximum allowed on robot axis 4 through 6. This is an acceptable load.

2. Borderline Load – based on robot inertia

When the weight is mounted .125 m (5 in) away from the robot face plate the center of gravity is 0.175 m and the inertia on the robot is 40-110% of the maximum allowed on robot axis 4 through 6. This load is borderline and would require the Integrator and FANUC to decide on a case by case basis.

3. Unacceptable Load – based on robot inertia

When the weight is mounted .25 m away from the robot face plate the center of gravity is 0.3 m and the inertia on the robot is 110-310% of the maximum allowed on robot axis 4 through 6. This load is unacceptable.

In the examples above, the payload was the same 5kg weight, but the inertia changed drastically when the weight was extended further from the robot face plate because of adding an EOAT. The example shows how important the overall size of the End of Arm Tooling and product is, and it is not enough to just look at the weight of the product itself.

Now if you have any CAD model you can get the inertia values from the CAD softwares and can do the calculation.

Happy Roboting .

Thanks 

Dear Dimitry,

You don't need to calculate the load at EOAT because in the manual of the robot system everything is given in calculated form.

The name of manual is FANUC Robot LR Mate 200iC and FANUC Robot ARC Mate 50iC (Mechanical Unit; Operational Manual). Reference number is B-82584EN/07.

Here is few details that might be essential and good for you, you can download the manual yourself.

Thanks a ton.

I got it .!!