3.6.1. Permitted load torque estimation

3.6.1. Permitted load torque estimation

 

The load, which will be applied to the mechanical interface of robot's wrist axis, is restricted by allowable weight, allowable load torque and allowable moment of inertia.

 

n  Step 1

Calculate the location of the weight center from the B axis rotation center (LX, LY, LZ)

LX: Location of weight center in X axis

LY: Location of weight center in Y axis

LZ: Location of weight center in Z axis

 

n Step 2

Check the location from the center of B and R1 axis to the weight center based on the torque map.

,

Length in B axis (LB) ≤ 0.606 m

Length in R1 axis (LR1) ≤ 0.303 m

 

LX: Location of the weight center in X axis direction from the B axis rotation center

LY: Location of the weight center in Y axis direction from the B axis rotation center

LZ: Location of the weight center in Z axis direction from the B axis rotation center

LB : Length from B axis rotation center to weight center

LR1 : Length from R1 axis rotation center to weight center

 

 

Figure 3.7 Wrist Axis Torque Mapping:[HS165]

 

 

Figure 3.8 Wrist Axis Torque Mapping:[HS200]

 

 

Figure 3.9 Wrist Axis Torque Mapping:[HS150L]

 

 Allowable Load Torque

 

Table 3‑1 Allowable Load Torque

Robot Model	Allowable Load Torque
	R2 Axis Rotation	B Axis Rotation	R1 Axis Rotation
HS165/HS150L	Less than 1,030N·m(105kgf·m)		Less than 490 N·m(50 kgf·m)
HS200	Less than 1,333N·m(136kgf·m)		Less than 706 N·m(72 kgf·m)