ABB Robotics IRB 1200, Product Specification

Page: 29 / 62

1.4.3 Maximum load and moment of inertia for axis 5
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J
ox
, J
oy
, J
ox
) in kgm
2
. L= √(
X2
+
Y2
).
Full movement of Axis 5 (±130º)
Max. value Robot variant Axis
J
5
= Mass x ((Z + 0.082)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.45 kgm
2
IRB 1200-7/0.7 5
J
5
= Mass x ((Z + 0.082)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.45 kgm
2
IRB 1200-5/0.9
J
6
= Mass x L
2
+ J
0Z
≤ 0.2 kgm
2
IRB 1200-7/0.7 6
J
6
= Mass x L
2
+ J
0Z
≤ 0.2 kgm
2
IRB 1200-5/0.9
xx1400000342
Description Position
Center of gravity A
Max. moment of inertia around the X, Y and Z axes at center of
gravity. J
ox
, J
oy
, J
oz
Limited axis 5, center line down
Max. value Robot variant Axis
J
5
= Mass x ((Z + 0.082)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.45 kgm
2
IRB 1200-7/0.7 5
J
5
= Mass x ((Z + 0.082)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.45 kgm
2
IRB 1200-5/0.9
J
6
= Mass x L
2
+ J
0Z
≤ 0.2 kgm
2
IRB 1200-7/0.7 6
J
6
= Mass x L
2
+ J
0Z
≤ 0.2 kgm
2
IRB 1200-5/0.9
Continues on next page
Product specification - IRB 1200 29
3HAC046982-001 Revision: G
© Copyright 2017 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia for axis 5