ABB CRB 1300, Product Specification

Page: 52 / 118

1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Note
Total load given as: mass in kg, center of gravity (Z and L) in meters and moment
of inertia (J
ox
, J
oy
, J
oz
) in kgm
2
. L= sqr (X
2
+ Y
2
), see the following figure.
Full movement of axis 5 (±130
o
)
Maximum moment of inertia Robot type Axis
Ja
5
= Load x ((Z + 0.09)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.6 kgm
2
CRB 1300-11/0.9
CRB 1300-10/1.15 5
Ja
5
= Load x ((Z + 0.09)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.5 kgm
2
CRB 1300-7/1.4 5
Ja
6
= Load x L
2
+ Joz ≤ 0.2 kgm
2
CRB 1300-11/0.9
CRB 1300-10/1.15 6
CRB 1300-7/1.4
xx1400002028
Description Pos
Center of gravity A
Description
Max. moment of inertia around the X, Y and Z axes at center of gravity. J
ox
, J
oy
, J
oz
Continues on next page
52 Product specification - CRB 1300
3HAC083113-001 Revision: C
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1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement