SCHUNK NSR-A Series User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
NSR-A
Pallet Changing System

Imprint
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06.00 | NSR-A | Assembly and Operating Manual | en | 389722
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389722
Version: 06.00|29/07/2019|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of Contents
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Table of Contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Sizes ..........................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 7
1.3.1 Accessory pack for NSR-100 .....................................................................7
1.3.2 Accessory pack for NSR-160 .....................................................................7
1.4 Accessories ........................................................................................................... 8
1.4.1 Sealing kit for NSR-A 100 ..........................................................................8
1.4.2 Sealing kit for NSR-A 160 ..........................................................................8
2 Basic safety notes ................................................................................................... 9
2.1 Intended use......................................................................................................... 9
2.2 Inappropriate use ................................................................................................. 9
2.3 Constructional changes ........................................................................................ 9
2.4 Spare parts ........................................................................................................... 9
2.5 Environmental and operating conditions ........................................................... 10
2.6 Personnel qualification....................................................................................... 10
2.7 Personal protective equipment.......................................................................... 11
2.8 Organizational measures.................................................................................... 11
2.9 Notes on safe operation ..................................................................................... 12
2.9.1 Handling..................................................................................................12
2.9.2 Holding force and screw strength...........................................................13
2.10 Transport ............................................................................................................ 13
2.11 Malfunctions....................................................................................................... 13
2.12 Disposal .............................................................................................................. 14
2.13 Fundamental dangers......................................................................................... 14
2.13.1 Protection during handling and assembly ..............................................14
2.13.2 Protection during commissioning and operation ...................................15
2.13.3 Protection against dangerous movements.............................................15
2.13.4 Protection against electric shock............................................................15
2.14 Notes on particular risks..................................................................................... 16
3 Technical data.........................................................................................................18
3.1 Basic data ........................................................................................................... 18
3.2 Calculation of permissible transport load .......................................................... 19
3.2.1 Determining the permissible transport load with NSR-A 100 ................19
3.2.2 Determining the permissible transport load with NSR-A 160 ................21

Table of Contents
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4 Design and Description ...........................................................................................23
4.1 Application example for automated pallet loading............................................ 24
4.2 Pallet adapter for NSR-A 100.............................................................................. 25
4.3 Pallet adapter for NSR-A 160.............................................................................. 28
4.4 Coupling interface for NSR-A 100 and NSR-A 160 .............................................. 31
5 Assembly ................................................................................................................32
5.1 Assembly requirements...................................................................................... 32
5.2 Unpacking and transporting ............................................................................... 33
5.3 Installing and connecting.................................................................................... 34
5.4 Connections........................................................................................................ 36
5.4.1 Connections to the changeover head on version "without adapter plate".
36
5.4.2 Connections to the changeover head on version "with adapter plate" ......
40
5.4.3 Unlocking connection .............................................................................43
5.4.4 Locked connection..................................................................................43
5.4.5 Air purge connection with cleaning function .........................................44
5.4.6 Pneumatic circuit diagram NSR-A 100....................................................45
5.4.7 Pneumatic circuit diagram NSR-A 160....................................................46
5.5 Screw tightening torques ................................................................................... 47
5.5.1 Screw tightening torques for NSR-A 100 ................................................47
5.5.2 Screw tightening torques for NSR-A 160 ................................................47
5.6 Tolerances and installation conditions for clamping pins in customer-specific
pallet adapters.................................................................................................... 48
5.6.1 Installation condition for clamping pin for NSR-A 100 ...........................49
5.6.2 Installation condition for clamping pin for NSR-A 160 ...........................50
5.7 Installing the sensors.......................................................................................... 51
5.7.1 Overview of compatible sensors ............................................................51
5.7.2 Mount magnet sensor MMS 22...-SA .....................................................52
5.7.3 Mounting inductive proximity switch IN 50 ...........................................53
5.8 Connection and disconnection of transport loads ............................................. 54
6 Troubleshooting .....................................................................................................56
7 Maintenance ..........................................................................................................57
7.1 Maintenance intervals........................................................................................ 57
7.2 Information on error-free function .................................................................... 58
7.3 Carry out visual inspection and check for leaks.................................................. 58
7.4 Assembly drawings ............................................................................................. 59
7.4.1 Assembly drawings NSR-A 100 ...............................................................59
7.4.2 Assembly drawings NSR-A 160 ...............................................................62
8 Translation of original EC declaration of incorporation............................................65
9 Annex to Declaration of Incorporation....................................................................66

General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• NSR-A 100
• NSR-A 160
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
• Observe the applicable documents, Applicable documents [}6]
• Observe the ambient conditions and operating conditions
• Observe the maximum number of clamping cycles
Technical data [}18]
• Observance of the specified care and maintenance instructions
Maintenance [}57]
Parts touching the workpiece and wear parts are not included in
the warranty.

General
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1.3 Scope of delivery
The scope of delivery includes
• Pallet changing system in the ordered size
(NSR-A 100 or NSR-A 160)
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessory pack for NSR-100
Content of the accessory pack:
• 2 fitting screws 8f7 / M6
• 3 mounting screws, M6 x 25, DIN 912/12.9
• 2 O-rings, DIN 3771 NBR 10, Ø 3 x 1.5
ID.-No. of the accessory pack
Accessory pack for ID number
NSR-A 100 9987230
1.3.2 Accessory pack for NSR-160
Content of the accessory pack:
• 1 fitting screws 10f7 / M8
• 1 fitting screw 10f7 / M8 x 45
• 3 mounting screws, M8 x45, DIN 912/12.9
• 2 O-rings, DIN 3771 NBR 70, Ø 4.5 x 1.5
ID.-No. of the accessory pack
Accessory pack for ID number
NSR-A 160 9987687

General
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1.4 Accessories
(see catalog or data sheets when ordering separately)
• Pallet adapter
for NSR-A 100:
– PKL 100, Adapter 90° with mounting stud
– PKL 100, straight Adapter 0° with mounting stud
for NSR-A 160:
– PKL 160, Adapter 90° with mounting stud
– PKL 160, straight adapter 0° with mounting stud
• Clamping pins
• Pneumatic feed-through modules
• Electrical feed-through modules
• Magnetic switchMMS 22...-SA (monitoring "locking and
unlocking")
• Inductive proximity switch IN 50 (monitoring "presence of
clamping pin")
• Adapter plates for fastening the pneumatic or electrical feed-
through modules
• Sealing kit
1.4.1 Sealing kit for NSR-A 100
Position of the item numbers Assembly drawings [}59]
Wearing parts – we recommend replacing when maintenance is performed
Item Designation Quantity
20 O-ring Ø 4.5 x 1 4
21 O-ring Ø 11 x 1 4
22 Sealing element 1
23 O-ring Ø 20 x 1.5 2
25 O-ring Ø 2.5 x 1 2
27 O-ring Ø 64 x 1.5 1
1.4.2 Sealing kit for NSR-A 160
Position of the item numbers Assembly drawings [}59]
Wearing parts - we recommend replacing when maintenance is performed
Item Designation Quantity
19 O-ring Ø 4.5 x 1.5 2
20 O-ring Ø 7 x 1.5 4
21 O-ring Ø 20 x 1.5 4
22 Sealing element 2
23 O-ring Ø 32 x 1.5 2
24 O-ring, Ø 9 x 1.5 4
25 O-ring Ø 3 x 1 1

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The pallet changing system is intended for pallet handling with a
robot or similar suitable technical devices for the automated
loading of machine tools or other suitable technical devices.
It may only be used within the framework of its technical data. The
maximum technical specifications must not be exceeded!
The product is designed for industrial use.
To use this unit as intended, it is also essential to observe the
technical data and installation and operation notes in this manual
and to comply with the maintenance intervals.
2.2 Inappropriate use
The pallet changing system for handling pallets is not being used as
intended if, for example:
• it is used for turning applications without consulting SCHUNK.
• it is used in working environments that are not permissible,
• people are working on machines or technical equipment that do
not comply with the EC Machinery Directive 2006/42/EC,
disregarding the applicable safety regulations and
• the technical data specified by the manufacturer are exceeded.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes
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2.5 Environmental and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}18].
• Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated
environments.
2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.

Basic safety notes
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2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.8 Organizational measures
Obeying the rules
The operator must employ suitable organizational measures and
instructions in order to ensure that the relevant safety rules are
obeyed by the persons asked to operate, maintain and repair the
product.
Checking the behavior of personnel
The operator must at least occasionally check that the personnel
are behaving in a safety conscious manner and are aware of the
potential hazards.
Danger signs
The operator must ensure that the signs concerning safety and
hazards on the machine where the product is mounted are clearly
legible and are observed.
Faults
If a malfunction occurs in the product and endangers safety, or if a
problem is suspected due to production behavior, the machine on
which the product is mounted must be stopped immediately and
remain shut down until the malfunction has been located and
remedied. Only allow specialists to remedy malfunctions.
Spare parts
Only use original SCHUNK spare parts.
Environmental regulations
The applicable environmental regulations must be observed for all
maintenance and repair work.

Basic safety notes
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2.9 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.9.1 Handling
During automated loading or unloading, particularly with high
loading weights, always work with the handling system at reduced
speed. The handling system must be positioned and fastened
precisely to guarantee that the connection is not offset.
Check the approach position of the pallet handling at regular
intervals. The position of the handling system can change slightly,
particularly with high loading weights or when the clamping pallet
is bearing the loading weight significantly towards the front. In the
event of eccentricity on the coupling interfaces, the relevant
traveling axes of the handling system must be adjusted. The pallet
changing system must lie flush with the pallet adapter with no tilt
angle and eccentricity when joining.
A rigid handling system must be used with high loading weights.
For the automated coupling process, it is recommended to use the
air purge to clean the coupling interface.
The pallet handling should be moved out of the machining area
once pallet loading is complete. On leaving the machining area,
the clamping system must be positioned such as to prevent dirt
from entering the interface.
Maintenance specifications
Follow the maintenance and care instructions. These instructions
are based on a normal working environment. If the pallet changing
system is to be operated in an environment with abrasive dusts or
corrosive or aggressive fumes or fluids, prior approval must be
obtained from SCHUNK.

Basic safety notes
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Safety during assembly and servicing
During assembly, connection, adjustment, commissioning and
testing, make sure that no accidental operation of the pallet
changing system by the fitter or other persons is possible.
Avoid any unsafe manner of working.
2.9.2 Holding force and screw strength
The holding force of the pallet changing system is essentially
limited by the tightness of the screw connection which connects
the clamping pin to the pallet adapter or the device. This is why
only screws of strength class 12.9 may be used for the screw
connection.
Only original SCHUNK clamping pins may be used.
If the clamping pin is to be used in customer-specific devices, a
sufficiently dimensioned pallet adapter or a sufficiently thick
mounting material is provided.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the
malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.

Basic safety notes
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2.12 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.

Basic safety notes
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2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable
regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
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2.14 Notes on particular risks
WARNING
Risk of injury due to falling heavy components!
If the clamping pin is loosened erroneously or as a result of
negligence, the device, pallet or workpiece may fall down and
cause severe injuries.
•During operation, loosening the clamping pin as a result of
negligence is to be excluded using appropriate counter
measures, e.g.by disconnecting the energy supply after
locking or by using check valve or switches.
•Check the screw fitting of the clamping pin in the pallet
adapter at regular intervals to ensure that it is secure.
•Ensure that in pallet handling setup mode, only one operator
is working on the robot system.
•Do not step under raised loads in the robot or automation
system (clamping pallet connected).
WARNING
Risk of injury to operating personnel due to movement of robot
arm!
Uncontrolled movements during the setup of the pallet changing
system and during operation may cause severe injury.
•During setup of the pallet changing system, accidental
actuation of the robot arm must be prevented by means of
suitable countermeasures.
•Ensure that the machines and equipment fulfill the minimum
requirements of the EC Machinery Directive 2006/42/EC;
specifically, they must have effective technical measures to
protect against potential mechanical hazards.
WARNING
Risk of injury from an independent, uncontrolled movement of
components clamped with spring force!
After actuating an "emergency stop" or after switching off or a
failure to the energy supply, this components clamped with
spring force may move uncontrolled into their end positions and
cause severe injury.
•Wait for the system to shut down completely.
•Do not reach into the clamping module.
•Use pressure maintenance valves.

Basic safety notes
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CAUTION
Risk of injury due to compressed air hoses coming loose when
connected improperly!
•Use check valves or safety switches.
•Ensure that the danger zone is surrounded by a protective
enclosure during operation.
CAUTION
Risk of injury due to contaminated working environment!
Contamination, escaping cooling lubricant or oil pose slipping
sources and can cause falls.
•Ensure that the working environment is clean before starting
assembly and installation work.
•Wear suitable safety boots.
•Follow the safety and accident-prevention regulations when
operating the pallet changing system, especially when working
with machine tools and other technical equipment.
CAUTION
Risk of burns due to workpieces with high temperatures.
•Wear protective gloves when removing the workpieces.
•Automatic loading is preferred.
CAUTION
Danger from noise generation
Physical and mental stress by noise generation during the
working process.
•Wear hearing protection.

Technical data
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3 Technical data
3.1 Basic data
Designation NSR-A
100 160
Max. bending moment Mxy *1 75 Nm *2 600 Nm *3
Max. bending moment Mz *1 200 Nm 1,600 Nm
Locking force 4.0 kN 15.0 kN
Pull-in stroke 0.3 mm 1.0 mm
Repeatability [mm] < 0.005 mm < 0.02 mm
Actuating pressure 6 bar
Minimum pressure to unlock 3.5 bar
The operating pressure must not fall below 5 bar
Installation position Any
Operating temperature 15°C – 60°C
Required level of cleanliness IP 30 in accordance with DIN EN 60529
Noise emission [dB(A)] ≤ 70 dB (A)
Pressure medium*4 Compressed air,
compressed air quality in accordance with ISO
8573-1:6 4 4
*1 max. torque when fastening the clamping pin with cylindrical screw M8 with NSR-
A100 or M16 with NSR-A160 – DIN EN ISO 4762/12.9 and full support on the
module flat surface.
The directions of force for the maximum permissible torque are shown in the
illustration in the "Coupling Interface" chapter
Coupling interface for NSR-A 100 and NSR-A 160 [}31].
*2 Alternatively, the clamping pin can be screwed to the pallet or device using an M6
screw. In this case, ensure that the maximum bending moments are reduced to 50
Nm. An M8 screw is the preferable option.
*3 Alternatively, the clamping pin can be screwed to the pallet or device using an M12
screw. In this case, ensure that the maximum bending moments are reduced to 400
Nm. An M16 screw is the preferable option.
*4 A separate maintenance unit must be used for the air supply. The pallet change
system is prepared for use with non-oiled compressed air.
Maximum clamping cycles with NSR-A100, NSR-A160
Warranty and maximum clamping cycles
Length of warranty 24 Months
Maximum clamping cycle number 500 000 Cycles
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Technical data
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3.2 Calculation of permissible transport load
The pallet changing system 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 taken into consideration for the transport
load.
To operate the pallet changing system for dynamic handling, it is
essential for the maximum acceleration of the machine to be
known.
The acceleration has an effect even in the case of an abrupt
deceleration e.g. when the emergency stop switch is actuated.
Inclusion of the acceleration values is of crucial importance for
the operational safety of the pallet changing system and the
entire robot and palletizing system. If it is not taken into account,
it can result in accidents and damage to the whole system.
3.2.1 Determining the permissible transport load with NSR-A 100
Missing information or specifications can be requested from the
manufacturer.
Maximum permissible torque for NSR-A 100: Mxy = 75 Nm
Legend
M Torque Nm
F Force N
I Effective lever length from the coupling interface between the
changeover head and pallet adapter to the center of gravity of the load.
m
m Mass kg
g Acceleration due to gravity m / s2
mtotal m pallet adapter + m clamping pallet + m transport load kg
a Maximum acceleration of robot arm m / s2

Technical data
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06.00 | NSR-A | Assembly and Operating Manual | en | 389722
Determination of formula values:
m pallet adapter, 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:
Maximum permissible moment load Mxy for NSR-A100:
Mxy = 75 Nm
Result of calculation:
Taking into account the robot acceleration, the loading weight
obtained in the calculation example is permissible.
A higher loading weight requires a shortening of the effective lever
length from the coupling interface to the center of gravity of the
load, or a reduction in the robot acceleration.
For every change to the technical data, a calculation must be
performed.