ABB IRB 1090, Product Specification

Page: 33 / 74

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 (-125°/+120°)
Maximum moment of inertia Robot type Axis
Ja
5
= Load x ((Z + 0.064)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.175
kgm
2
IRB 1090-3.5/0.58 5
Ja
6
= Load x L
2
+ J
oz
≤ 0.085 kgm
2
IRB 1090-3.5/0.58 6
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
Product specification - IRB 1090 33
3HAC088057-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement