What does this point mean?

  • The load diagram for your robot type will give you more detailed information about it. I would highly recommend to take a look on it as it is one of the most important things to consider.

  • IIRC, that represents the Center of Gravity/Mass used for the official Max Payload that the robot is rated for, and is used when the robot is factory calibrated.


    So, at KUKA, there is a L-shaped bracket that holds a set of steel disks, for every robot model. So for a KR5, there is a 5kg weight whose L-Bracket holds it at that particular distance from the A6 mounting flange. In your diagram, that would be held at position of X 100, Y 0, Z 80 from the center of the A6 mounting flange.


    Payloads of smaller mass can have their CGs further from the flange. It's a complex relationship. KUKA offers for download a spreadsheet where you can insert you robot model, the mass and CG of your payload, and the spreadsheet will generate a report detailing where that Mass/CG combination falls in the robot's inertial envelope.


    There are also differences between static and dynamic loading. A payload whose inertia is within the robot's carrying capacity may still force the robot to move/accelerate slowly.

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