Allowable Range When No Option Is Attached

The allowable ranges of the mass of tool and the mass of all objects which place a load on the flange, such as workpieces, wiring, and piping ("mass of tool-related parts" hereafter), and the center of gravity of the tool-related parts are as follows.

Allowable Range of Total Mass of Tool-related Parts

The total mass of the tool-related parts should be within the following range of mass.

• When the end-effector faces downward (within ±10 °).

  Up to 0.7 kg

• Other than above

  Up to 0.5 kg

Allowable Range of Center of Gravity of Tool-related Parts

The following graph indicates the allowable range of the distance from the intersection of the rotational center axis of the 6th axis and that of the 5th axis to the center of gravity of the tool-related part, for each total mass of tool-related parts.

As the total mass of tool-related parts becomes lighter, the allowable range becomes wider.

The center of gravity of the tool-related parts should be within the following range.