Omron CR_UDG4_NR, Руководство пользователя

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6
Specifica
tions
6-4
The design of the gripper that is mounted under the robot have great influence on the performance of the robot. Both
the weight of the gripper and the distance of the center of gravity of the gripper to the TCP base point have negative
influence on the final performance of the robot.
If you need to install cabling for the gripper, please follow the following steps:
• Mount the cables on the baseplate or frame, near the turning point from the primary arm on the gearbox
• Mount the cables on the primary arm, with ty-raps or clamping parts
• keep a big loop at the hinge point from the primary and secondary arm
• Mount the cables on the secondary arm, with ty-raps or clamping parts
• keep a big loop from the lowest mounting point at the secondary arm till the connection on the gripper
3.3 Software design
The arm lengths and pitch circles of the rotation points are shown in the below picture.
Upper arm length
320 mm
Lower arm length
850 mm
Lower arm rotation points
circle diameter 100 mm
Upper arm rotation points
circle diameter 400 mm