Technical Data
14
09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en |
0489056
5.1 Calculation of Permissible Transport Load
The robot coupling is limited to a maximum permissible torque at
the coupling interface. The dynamic load when using the robot
system for handling results in acceleration and deceleration forces
that have to be included in the transport load.
To operate the robot coupling for dynamic handling, it is
essential for the maximum acceleration to be known.
The acceleration also has an effect with abrupt deceleration, e.g.
after actuation of the emergency stop switch.
Inclusion of the acceleration values is of crucial importance for
the operational safety of the robot coupling and the entire robot
and palletizing system. If it is not taken into account, this can
result in accidents and damage to the clamping system.
Calculation example for determination of permissible transport
load
Missing information or specifications can be requested from the
manufacturer.
Maximum permissible torque for NSR mini 100:
M = 75 Nm
Legend
M
Torque
Nm
F
Force
N
I
Effective lever length from the coupling interface between the robot
coupling and pallet coupling to the center of gravity of the load.
m
m
Mass
kg
g
Acceleration due to gravity
m / s
2
m
tot
m
Pallet coupling
+ m
Clamping pallet
+ m
Transport load
kg
a
Maximum acceleration of robot arm
m / s
2
Determination of formula values:
m
Pallet coupling, Type: PKL mini 100 (Aluminum)
= 0.3 kg
m
Clamping pallet, Type: PAL A 399 x 159 (Aluminum)
= 5.1 kg
m
Transport load
= 50 kg (example value)
I = 100 mm = 0.10 m (example value)
Calculating the acceleration force:
