Yamaha YP-X Series, Owner'S Manual, Page: 100 / 110

CHAPTER 6 Specifications
6-18
2 R axis allowable moment/inertia moment
2-1 R axis allowable moment/inertia moment
Due to the robot R axis motor and speed reduction gear specifications, there is a
limit to the load that can be applied to the R axis.
If the robot is operated with this limit exceeded, the above drive parts' lives will
decrease and may cause breakage.
The limit of the R axis load is expressed with values called the tolerable moment
and tolerable inertia moment.
For the YP340X, YP320XR, YP220BXR the maximum end weight is 1kg and the
R axis tolerance inertia moment is 0.01 kg · cm · sec
2
.
Refer to the examples for calculating the inertia moment on the following page
and confirm that the inertia moment of the R axis load does not exceed the toler-
ance value.
! CAUTION
The robot must be operated with correct tolerable moment of inertia and
acceleration coefficients according to the manipulator tip mass and mo-
ment of inertia. If this is not observed, premature end to the life of the drive
units, damage to the robot parts or residual vibration during positioning
may result.