How to Evaluate Applications with Increased Peripheral Equipment Loading

Some applications may require using peripheral equipment (upper arm payload) that is beyond the robot’s specifications. It is recommended to start with a MotoSize analysis to confirm if the peripheral equipment is out of specification. MotoSize uses the specification values from the robot’s manual (typically in chapter 7 “System Application”), which assumes that the wrist is at maximum payload. However, when the wrist is below maximum payload, the peripheral equipment specifications in the manual may be exceeded when the following three criteria are met:

1. The actual U-Axis moment is less than or equal to the maximum U-Axis moment based on the specifications.
2. The actual wrist moment is less than or equal to the maximum wrist moment based on the specifications.
3. The actual combined payload of wrist and upper arm are less than or equal to the combined wrist and upper arm specification payloads.

In all cases, accurate wrist and upper arm payload information must be entered into the Tool and ARM Control files respectively. It is also the customer’s responsibility to properly evaluate if the provided peripheral equipment mounting features on the robot are sufficient for attaching the increased equipment load.

Please refer to the attached document for the formulas to calculate and evaluate applications with increased peripheral equipment loading. An example is also provided.