Pressure of loading gantry on EOAT

    Hello. I am curious about the force a gantry might exert against a 7-axis M7DM1 material handler.

    The EOAT is a Schunk gripper which holds a tray; the gantry is to load a part onto this tray with nothing beneath it to absorb the force, so the robot buckles under the pressure.

    The load data for this tray states its mass is 239.8 kilograms. I am concerned that over time the gantry will wear on the ball bearings in the gripper.

    I know this is a rather open-ended question, but how can I mitigate this?

    More information is needed to give you a good answer. What robot model is it? What does the seventh axis have to do with any of this? What robot model is it? The tray alone weighs 240 Kg? Or the tray plus the part is 240 Kg? Are you saying that the part gets dropped or is free falling for some distance or is it being put onto the tray with some force?

    Other things that come to mind are:

    1. Payload Activation -- When you activate the new payload on the robot during the gantry handoff could have a significant impact on system performance and component lifespan.

    (i.e., Gantry place>Gantry release>Set payload.... VERSUS.... gantry place>set payload>gantry release)

    2. Robot Standstill -- When the handshake occurs between robot and gantry, is the robot being held in place by the servos or the brakes?

    3. Do you have any force control or soft move options loaded? These could be used to mitigate forces felt by allowing the robot to cushion the transition from gantry to EOAT.

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