3.6.2. Permitted inertia moment estimation

Refer to [Table 3-2] in using the robot so that the load does not exceed the allowable condition.

n Step 1

Calculate moment of inertia of the load at the center of each wrist axis.

(Ja4, Ja5, Ja6)

Ja4 - Moment of inertia at the center of rotation of the R2 axis

Ja5 - Moment of inertia at the center of rotation of the B axis

Ja6 - Moment of inertia at the center of rotation of the R1 axis

n Step 2

Check if the moment of inertia is below the limit value, based on the table of allowable moments of inertia below.

Allowable Moment of Inertia

Table 3‑2Allowable Moment of Inertia