3.6.2. Permitted inertia moment estimation

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

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 3‑2 Allowable Moment of Inertia