3.6.2. Permitted inertia moment estimation

Loads must be kept below maximum conditions shown in [Figure 3.11] ~ [Figure 3.13].

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 3‑2 Allowable Moment of Inertia