1 Description
1.4.3 Maximum load and moment of inertia for full axis 5 movement
3HAC 9112-1
Rev.N
27
1.4.3 Maximum load and moment of inertia for full axis 5 movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of
inertia (J
ox
, J
oy
, J
oz
) in kgm
2
. L=
√(
X
2
+ Y
2
), see Figure 11.
Full movement of Axis 5 (±115º)
5
Figure 11 Moment of inertia when full movement of axis 5.
Axis Robot Type
Maximum momemt of inertia
5
IRB 2400L
J
5
= Mass x ((Z + 0.065)
2
+ L
2
) + max (J
0x
, J
0y
)
≤
0.65 kgm
2
6
IRB 2400L
J
6
= Mass x L
2
+ J
0Z
≤
0.31 kgm
2
Axis Robot Type
Maximum momemt of inertia
5
IRB 2400/10
J
5
= Mass x ((Z + 0.085)
2
+ L
2
) + max (J
0x
, J
0y
)
≤
1.15 kgm
2
6
IRB 2400/10
J
6
= Mass x L
2
+ J
0Z
≤
0.70 kgm
2
Axis Robot Type
Maximum momemt of inertia
5
IRB 2400/16
J
5
= Mass x ((Z + 0.085)
2
+ L
2
) + max (J
0x
, J
0y
)
≤
1.85 kgm
2
6
IRB 2400/16
J
6
= Mass x L
2
+ J
0Z
≤
1.05 kgm
2
Pos
Description
A
Center of gravity
Description
J
ox
, J
oy
, J
oz
Max. moment of inertia around the X, Y and Z axes at center of gravity.
