Mitsubishi Electric CR800 Series, Special Specifications Manual, Page: 33 / 156

２ Robot arm
2-20
2.2.2 Rated load (mass capacity)
The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass,
eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the fol
-
lowing issues.
(1) The tooling should have the value less or equal than the smaller of the allowable inertia and the allowable
moment found in Page 13, "2.1.1 Basic specifications" .
The examples of inertia calculation methods are described in Page 138, "Appendix 1 ： Inertia calculation
method" .
(2) Fig. 2-6 shows the distribution dimensions for the center of gravity in the case where the volume of the
load is relatively small. Use this figure as a reference when designing the tooling.
Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in
Fig. 2-6 ,
when loading mass is maximum (3kg).
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt
alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceler
-
ation, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia
defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes
or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.
Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note
that if the point of operation is kept away from the mechanical interface surface by long and low-rigid
tooling, the positioning accuracy may deteriorate or may cause vibration.
Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center
of gravity is 100 mm.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend
-
ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.
[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position
separates from the shaft center. Refer to Page 21, "2.2.3 Relationships Among Mass Capacity, Speed, and
Acceleration/Deceleration Speed" in detail.
Fig.2-6 ： Position of center of gravity for loads (for loads with comparatively small volume)
10mm (3kg)
20mm (1kg)
定格慣性モーメント
最大慣性モーメント
シャフト中心
単位：mm
Unit: mm
Shaft center
Allowable moment of inertia
Maximum
Rating