Mechanical Operations and Maintenance Manual for Industrial Robot ER10-3(4)-900
J3 axis rotation
J4 axis rotation
ER10-3-900
20 Nm
\
ER10-4-900
20 Nm
8 Nm
2.7.3 Allowable Maximum of Moment of Inertia
Robot model
Allowable moment of inertia
J3 axis rotation
J4 axis rotation
ER10-3-900
1.5 kg.
㎡
\
ER10-4-900
1.5 kg.
㎡
0.8 kg.
㎡
2.7.4 Allowable Payload Curve Diagram
Fig.2-9 Wrist Axis Torque Diagram of ER10-3-900
Fig.2-10 Wrist Axis Torque Diagram of ER10-4-900
D
ist
an
ce
fro
m
en
d
fla
ng
e
ax
is
Distance from the center of rotation of J3 axis
(m)
D
ist
an
ce
fro
m
en
d
fla
ng
e
ax
is
Distance from the center of rotation of J3 axis
(m)
