3.6.2. Permitted inertia moment estimation

3.6.2. Permitted inertia moment estimation

 

Loads must be kept below maximum conditions shown in [Figure 3.9] ~ [Figure 3.10].

 

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.

 

Figure 3.10 Wrist Axis Load Condition : [YS080L/YS140]

 

 Allowable Moment of Inertia

 

Table 3‑2 Allowable Moment of Inertia

Robot Model	Allowable Moment of Inertia
	R2 Axis Rotation	B Axis Rotation	R1 Axis Rotation
YS080L	30 kg·m²(3.06 kgf·m·s²)		20 kg·m²(2.04 kgf·m·s²)
YS140	57 kg·m²(5.82 kgf·m·s²)		32 kg·m²(3.26 kgf·m·s²)