URCap Software
18
01.00 | SCHUNK Software Module for URCap | Software Manual | en | 1369443
Payload (kg) = 0.558 + Customer´s Tooling Mass
Center of Gravity (x, mm) =
Customer´s Tooling Mass x Customer´s CG in the x direction
0.558 + Customer´s Tooling Mass
Center of Gravity (y, mm) =
Customer´s Tooling Mass x Customer´s CG in the y direction
0.558 + Customer´s Tooling Mass
Center of Gravity (y, mm) =
12.7224 + Customer´s Tooling Mass x (Customer´s CG in the z di46.4)
0.558 + Customer´s Tooling Mass
Center of Gravity (CG)
The point of a mass around which the resultant torque from
gravity forces is zero.
Customer’s Center of
Gravity in the X, Y, Z Dir-
ection
The distance in mm from the F/T sensor’s sensing reference
frame origin (refer to the customer drawing) to the center of
gravity of the customer’s tooling.
This should include the mass and location of all customer-
provided fasteners and not SCHUNK-provided parts.
The location of a center of gravity can be found in most CAD
packages used to design robot tooling.
Customer’s Tooling Mass The mass of the customer’s tooling that includes all fasteners
not provided by SCHUNK, in kilograms.
F/T Mass
The mass of the F/T sensor including the interface plate and all
hardware required to connect the F/T sensor to the robot.
The F/T mass does not include any hardware the customer uses
to mount their tooling to the F/T sensor.
