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ID : 4009
Tool Design Method
We cannot guarantee the safety of tools (hands), workpieces, and other peripheral devices because their use conditions are varied.
When designing systems, be sure to perform the risk assessment and provide adequate safety measures so that sufficient safety margins are secured.
The requirements of tool design are summarized below.
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When using the electric gripper for COBOTTA and the electric vacuum generator, items 1 and 2 above should be observed.
Detailed description of item 1 above and how to attach the tool to the flange part of COBOTTA are explained below.
- Mass, Including Workpiece and Wiring of Tool, and the Center of Gravity
- How to Attach a Tool to Flange of COBOTTA
Read the items above before designing tools.
With regard to above-mentioned 1, for about electric vacuum generator, refer to "Load capacity of an electric vacuum generator".
Mass, Including Workpiece and Wiring of Tool, and the Center of Gravity
In reality, the range of specifications of the mass, including a workpiece and wiring of the tool, and the size refer to the following items.
- Maximum payload
- The allowable maximum value of moment and the inertia moment (inertia) applied to the 4th to the 6th axes
The mass, which should be compared with the maximum payload, include the mass of tool and the mass of all objects which place a load on the flange, such as workpieces, wiring, and piping ("tool-related parts" hereafter).
This means that the total mass of tool-related parts should not exceed the maximum payload.
Normally, the values of the moment and the inertia moment (inertia) applied to the 4th to the 6th axes ("moment/inertia moment of the 4th to the 6th axes" hereafter) are calculated from the total mass, shape, and the center of gravity of the tool-related parts.
With COBOTTA, however, because of its specifications, the moment/inertia moment of the 4th to the 6th axes can be considered as being within the range of allowable maximum values as long as the total mass and the center of gravity of the tool-related parts are within the specific range.
The following references show the specific ranges of the total mass and the center of gravity of the tool-related parts for different combinations of options.
When designing tools, make sure to stay within the allowable range indicated by the following references.
|
Information item (Reference) |
Outline |
|---|---|
| Allowable Range When No Option Is Attached |
Explains the allowable range when no option is attached. |
| Allowable Range When Only AF Camera (N10-W02) Is Attached |
Explains the allowable range when only the AF camera (N10-W02) is attached. |
| Allowable Range When Only Electric Gripper for COBOTTA Is Attached |
Explains the allowable range when only the electric gripper for COBOTTA is attached |
| Allowable Range When Electric Gripper for COBOTTA and AF Camera (N10-W02) Are Attached |
Explains the allowable range when the electric gripper for COBOTTA and the AF camera (N10-W02) are attached. |
When a tool exceeding the allowable range is used, each clamped section of COBOTTA unit may become loose and have backlash, get out of position, and eventually lead to damage of COBOTTA.
How to Attach a Tool to Flange of COBOTTA
Use the screw holes for fixing tools (4 positions) and for the dowel pin on the flange.
Prepare the tool fixing screws having the following specifications. Tighten them with the following tightening torque.
| Specifications |
|
|---|---|
| Tightening torque | 1.6 Nm ±20% |
For the details on the dimensions of screw holes for fixing tools (4 positions) and for the dowel pin, refer to "Flange dimensions” in "Outline Drawing and Motion Range of COBOTTA (without option)".
ID : 4009