3.6.2. Permitted inertia moment estimation

3.6.2. Permitted inertia moment estimation

 

Loads must be kept below maximum conditions shown in [Table 3-3 ~ 3-5].

 

n Step 1

Calculate the inertia moment value of the load at each wrist axis center (Ja4, Ja5, Ja6)

Ja4 - Inertia moment from R2 axis rotation center

Ja5 - Inertia moment from B axis rotation center

Ja6 - Inertia moment from R1 axis rotation center

 

n Step 2

Check whether the inertia moment value is within the limit based on the allowed inertia moment table

 

 

 Allowable Moment of Inertia

 

Table 3‑4 Allowable Moment of Inertia

Robot Model	Allowable Moment of Inertia
	R2 Axis Rotation	B Axis Rotation	R1 Axis Rotation
HA006B	0.27 kgm²(0.027kgfms²)	0.27 kgm²(0.027kgfms²)	0.06 kgm²(0.006kgfms²)
HA006L	0.88 kgm²(0.088kgfms²)