Mechanical Operation and Maintenance Manual for Industrial Robot ER12-4-2000
16
2.7 Allowable Value of Wrist Payload
Attention
The installation payload at the front end of the robot wrist is affected by the allowable
weight of the wrist, the allowable payload torque value, and the allowable moment of
inertia. The allowable payload torque value changes according to the actual payload
moment of inertia. The wrist payload should be strictly controlled within each allowable
value. When using the robot with a wrist payload other than the allowable value,
normal operation cannot be guaranteed.
2.7.1 Allowable Weight
Robot model
Allowable weight
ER12-4-2000
12kg
2.7.2 Allowable Maximum of Static Payload Torque
Robot model
Allowable static payload torque
J4 axis rotation
ER12-4-2000
30 N▪m
2.7.3 Allowable Maximum of Moment of Inertia
Robot model
Allowable moment of inertia
J4 axis rotation
ER12-4-2000
3.5 kg▪m2
2.7.4 Allowable Payload Curve Diagram
Fig. 2-6
Wrist Axis Torque Diagram of ER12-4-2000
Position of the center of mass
Содержание ER12-4-2000
Страница 2: ......
