ABB IRB 14050, Product Specification

Page: 32 / 88

1.4.3 Maximum load and moment of inertia
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J
0x
, J
0y
, J
0z
) in kgm
2
. L= √(X
2
+ Y
2
).
Full movement
Max. value Robot variant Axis
J
5
= Mass x ((Z + 0.045)
2
+ L
2
) + max (J
0x
, J
0y
) ≤ 0.012 kgm
2
IRB 14050 - 0.5/0.5 5
J
6
= Mass x L
2
+ J
0Z
≤ 0.009 kgm
2
IRB 14050 - 0.5/0.5 6
xx1500000774
Description Position
Center of gravity A
Max. moment of inertia around the X, Y and Z axes at center of
gravity. J
0x
, J
0y
, J
0z
Wrist torque
The table below shows the maximum permissible torque due to payload.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram, contact your local ABB organization.
Max torque valid at
load Max wrist torque
axis 6 Max wrist torque
axes 4 and 5 Robot variant
0.5 kg 0.23 Nm 0.64 Nm IRB 14050
32 Product specification - IRB 14050
3HAC064627-001 Revision: G
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1 Description
1.4.3 Maximum load and moment of inertia