Introduction:
It is always important to have the correct mass data for your End-Of-Arm Tool (EOAT) for sizing the correct robot model and using that tool data in the robot’s controller. However, what if the tool is not designed yet? The only known data is just an estimated size and weight.
What if there is no CAD software to pull mass data from?
Below are step by step instructions to size a robot based on just estimated tool data.
STEP 1: Things to know in Advance
- Estimated tools will be simple representations only. The maximum detail allowed is 5 blocks.
- Be aware that these blocks are solid (see Figure 1); if the actual tool (Figure 2) has a series of gaps in the structure the MotoSize results will overestimate the loading.
- The only units accepted are meters and kilograms.
- MotoSize estimated results only account for the 5th and 6th axes (B and T).
- In addition to the tool mass, the mass of the part being picked needs to be represented, since it can significantly impact the overall mass properties.
- Select the largest, heaviest part that the tool will pick.
STEP 2: Enter the Data in MotoSize
Login to MotoSize.motoman.com
At the main page select the option for CHECK ROBOT VIA ESTIMATED DATA
At the Data Input Screen:
- Choose a section that best represents the overall shape of the tool and fill in the data base off the reference images associated with it.
- Selection of the robot model can be assisted by using the Controller, Application, and Axes filters.
- Once all data is filled in, select the Evaluate Arm Load button.
STEP 3: Review the Results
If a 4-axis arm was selected
If a 6-axis arm was selected
STEP 4: Saving the Results
Once satisfied with the results, they can be saved to a PDF, or the results can be saved as an XML file.
Most people, though, prefer the PDF.
- Select Create New Robot Report
- Fill in the Customer field and any other optional field desired
- A useful option is to include an image of the actual tool. Just select the Tooling Image button and choose any image file.
- When ready, select View Report
- The finished report will appear. Just select Printer Friendly Page
- The printer friendly page will display a message reminding the user to verify their browser background graphics are checked in the printer settings.
- If not, then the color key will be gray only and harder to interpret.
- Select the Hide button to remove the message,
- Use the browser to print to PDF (built-in to Chrome and Edge browsers)
- Done
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