3.6.2. Permitted inertia moment estimation

Loads must be kept below maximum conditions shown in [Figure 3.7~Figure 3.8].

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

Maximum

Payload

Allowable Moment of Inertia

R2 Axis Rotation

B Axis Rotation

R1 Axis Rotation

HS220S

152 kg·m²(15.5kgf·m·s²)

86 kg·m²(8.8kgf·m·s²)