3.6.2. Permitted inertia moment estimation

Loads must be kept below maximum conditions shown in [Table 3-2] ~ [Table 3-3]

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 if the inertia moment is under the thread according to the permissible inertia moment table

Allowable moment of inertia

Table 3‑3 Allowable moment of inertia