Hello,
The max CoG offset is dependent on the mass attached to the tool end. A high mass will limit you to a short offset, while a low mass will allow you to have a larger offset. Use the graph below to check that your payload and offset are within the shaded region. This offset should be analyzed in the x, y, and z direction relative to the tool flange.
If you need to calculate the values by hand, most scenarios on a robot will be 2 body systems: a gripper assembly, and an item to be gripped. This can be calculated with the following formula:
So let’s say you have a 2kg gripper with CoG in mm of [0,0,50] relative to the tool flange, and you pick up a 3kg object with CoG of [0,0,150] relative to the tool flange. That leaves you with the following calculation:
CoGz = ((2kg * 50mm) + (3kg * 150mm)) / (2kg + 3kg) = 110mm
So your total payload on the robot would be 5kg with a CoG of [0,0,110] which falls safely in the shaded area on the graph above.
If you need to offset the payload beyond the 800mm max on the graph, please reach back out, and we can further analyze your application.