HC20DT Payload - Deep Dive

As with all Motoman robots, the manipulator specification manual for each robot will clearly define the allowable payload mass properties (mass, center of gravity, and moments of inertia).

You can find this information for the HC20DT in the respective manipulator manual here. The screenshot showing this specification is also shown below. 

You will notice that for a 20kg payload, the center of gravity of the end of arm tool (EOAT) + product must not exceed 100mm in the z-direction. For applications such as palletizing, this limit is simply too restrictive to design a robust EOAT including a heavy payload product. Fortunately, much analysis has been done to address this issue. If the robot wrist can be kept in the vertical position within +/- 15 degrees the allowable center of gravity specification can be extended to the image shown below.