Denso HS-4535G, Общее руководство пользователя

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Chapter 3 Specifications of the Robot Unit
35
(3) Moment of inertia around the T axis
The moment of inertia of a hand or tool (including work-piece) around the T axis
should be less than the maximum allowable moment of inertia around the T axis of the
robot.
Hand's moment of inertia (incl. Work-piece) around the T axis ≤
Max. allowable moment of inertia
Calculate the moment of inertia around the T axis according to the graph given below.
NOTE: You may program the reduced ratio of the speed and acceleration individually
within the range specified below. If you set the reduced ratio of the programmed
speed only, the controller automatically calculates that of the acceleration according to
the formula below.
Acceleration (%) = (Speed/100)
2
x100
Application sample of hand's moment of inertia

To run the robot at 100% of the programmed speed and acceleration: The moment
of inertia around the T axis should be 0.03 kgm
2
or less.

If the moment of inertia around the T axis is 0.04 kgm
2
: Run the robot at 90% or less
of the programmed speed and at 81% or less of the programmed acceleration.
0
10
20
30
40
50
60
70
80
90
100
110
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
When calculating the hand's or tool's moment of inertia around the T axis, refer to the moment-of-inertia
formulas on the next page.
Hand's moment of inertia (kgm
2
)
Speed
Acceleration
Speed and
acceleration (%)
(Max.)