3.5.2. Permitted inertia moment estimation

Loads must be kept below maximum conditions shown in [Table 3-2 ~ 3-4]

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 3‑3 Allowable Moment of Inertia

Robot Model

Allowable Moment of Inertia

R2 Axis Rotation

B Axis Rotation

R1 Axis Rotation

HX400S

120 kg·m²

(12.2 kgf·m·s²)

120 kg·m²

(12.2 kgf·m·s²)

50 kg·m²

(5.1 kgf·m·s²)

Loads must be kept below maximum conditions shown in [Table 3-2 ~ 3-4].