4-2
Payload and Acceleration Considera-
tions
Careful considerations must be made when using high payloads, high accelerations, or a combination
of both.
Use the following diagrams to understand the limitations to acceleration and payload.
Precautions for Correct Use
Operating the robot outside of the payload and speed constraints described in this document
can damage the z-axis quill of the robot.
0
10
20
30
40
50
60
70
80
90
100
110
120
130
0
100
200
300
400
500
600
700
800
900
1000
1100
0
100
200
300
400
500
Payload Z-Location vs. Acceleration at 100% Speed
(Linear Moves Only)
A
c
c
e
le
ra
ti
o
n
(m/
s
²)
A
c
c
e
le
ra
ti
o
n
(%
)
1 kg
2 kg
3 kg
4 kg
5 kg
10 kg
15 kg
Payload Z-Location (mm) = Joint 3 Po Payload Center of Gravity
4 Operation
4-3
i4H Robots User's Manual (I660)
4-2 Payload and Acceleration Considerations
4
Summary of Contents for i4-650H
Page 1: ...i4H Robots User s Manual i4 650H i4 750H i4 850H I660 E 02...
Page 6: ...Manual Information 4 i4H Robots User s Manual I660...
Page 74: ...2 Specifications 2 20 i4H Robots User s Manual I660...
Page 142: ...5 Troubleshooting 5 6 i4H Robots User s Manual I660...
Page 176: ...Appendix A 16 i4H Robots User s Manual I660...
Page 177: ...I Index I 1 i4H Robots User s Manual I660 I...
Page 180: ...Index I 4 i4H Robots User s Manual I660...
Page 181: ......