b"1 Load & Tooling Offset 5 6 Robotiq End Effectors 2 3 4Grippers For Collaborative RobotsA PAYLOAD C.O.G ATO - TOOL FLANGEB BC CWHEN SELECTING COLLABORATIVE ROBOTIC ARMS, IT IS IMPORTANT TO CONSIDER THE FORCES INDUCED AT EACH JOINT.AS WITH ALL COLLABORATIVE AND INDUSTRIAL ROBOTS, THE MAXIMUM PAYLOAD CAPACITY OF THE ARM IS QUOTED AT THE CENTRE OF THE TOOL FLANGE AT THE END OF THE ROBOTIC ARM. UNLESS OTHERWISE SPECIFIED: FINISH: DEBUR ANDDO NOT SCALE DRAWING REVISIONDIMENSIONS ARE IN MILLIMETERS BREAK SHARP DUE TO THE STATIC TORQUE LIMITS ABOUT THE WRIST JOINTS, THE ALLOWED PAYLOAD IS REDUCED IF THE DISTANCE SURFACE FINISH: EDGESBETWEEN THE PAYLOAD CENTRE OF GRAVITY (C.O.G) AND THE TOOL FLANGE CENTRE IS GREATER THAN 150MM.TOLERANCES: LINEAR: ANGULAR:THE PAYLOAD VS OFFSET DIAGRAMS BELOW SHOW THE ALLOWED MAXIMUM PAYLOAD FOR BOTH KR810 AND KR1205 MODELS AS A FUNCTION OF THIS OFFSET DISTANCE BEYOND 150MM.NAME SIGNATURE DATE TITLE:DRAWNPLEASE NOTE THAT IT IS IMPORTANT TO CONSIDER THE MASS AND ALSO THE ADDED THICKNESS OF ANY GRIPPERS, D CHK'DADAPTER PLATES AND ANY OTHER END EFFECT DEVICES USED WHEN CALCULATING THE PAYLOAD C.O.G DISTANCE.APPV'DMFGQ.A MATERIAL: DWG NO. Assem1 A41 2 KR810 WEIGHT:SCALE:1:20 KR1205 SHEET 1 OF 1ANY COLLABORATIVE ROBOT INSTALLATION MUST ALWAYS BE EVALUATED ON AN ANY COLLABORATIVE ROBOT INSTALLATION MUST ALWAYS BE EVALUATED ON ANINDIVIDUAL BASIS TO DETERMINE THE SUITABILITY FOR WORKING WITHOUT GUARDING INDIVIDUAL BASIS TO DETERMINE THE SUITABILITY FOR WORKING WITHOUT GUARDING10 TEL: 01827 253340 FAX: 01827 253390 TEL: 01827 253340 FAX: 01827 253390 11sales@apex-trans.co.ukwww.apex-trans.co.uk sales@apex-trans.co.ukwww.apex-trans.co.uk"