TRANSPORTATION AND INSTALLATION MANUAL
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10.3. Permissible Load Conditions and Program Setting
This paragraph describes the permissible load conditions of the robot and how to
set up the program according to the load.
Permissible Load Conditions
10.3.1.
The robot load conditions are defined by the tool mass, moment of inertia and
offset value of tool gravity center from the center of the tool shaft, as shown in Fig.
10.4 and Fig. 10.5
The permissible load conditions for TVL500/TVL700 are shown in Table 10.1.
Table 10.1 Permissible load conditions
Conditions
Permissible values
Type
TVL500
TVL700
Mass
Rating 1 kg (Max. 3 kg)
Rating 1 kg (Max. 4kg)
Load inertia
Axes4 and 5: 0.15 kg
•m
2
axis 6: 0.2 kg
•m
2
Axes4 and 5: 0.09 kg
•m
2
axis 6: 0.1 kg
• m
2
Offset value of load
gravity center
Max. 100 mm (load ≤ 3 kg)
Max. 100 mm (load ≤ 4 kg)
Fig. 10.4 Explanation of inertia moment
Robot arm
Center gravity offset
axis 4 and 6
Center gravity offset
axis 5
Tool center gravity
