Mitsubishi Electric CR800-D Series, Стандартные технические условия

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2-12
2 Robot arm
2.2.2 Rated load (mass capacity)
The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar
mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot,
consider the following issues.
(1) The tooling should have the value less or equal than the smaller of the allowable inertia and the
allowable moment found in Page 9, "2.1.1 Basic specifications" .
The examples of inertia calculation methods are described in Page 109, "Appendix 1: Inertia
calculation method" .
(2) Fig. 2-1 shows the distribution dimensions for the positions of the centers of gravity for loads with rel-
atively small volume. Refer to the figure for designing tooling.
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allow-
able moment. Refer to Page 9, "2.1 Standard specifications" for details of allowable moment value.
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion pos-
ture. Even if you are within the allowable range mentioned previously, an overload or generate an
overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for accel-
eration/deceleration, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia
defined in this section, are dynamic limit values determined by the capacity of the motor that drives
axes or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas
of tooling. Guaranteed accuracy is measured from the center point of the mechanical interface sur-
face. Please note that if the point of operation is kept away from the mechanical interface surface by
long and low-rigid tooling, the positioning accuracy may deteriorate or may cause vibration.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an
ascending operation continues at a micro-low speed. In such a case, it is necessary to increase the
ascending speed.
Fig.2-1: Positions of the centers of gravity for loads with relatively small volume
150
85
100
100
220
310
100
200
300
115
200
7kg
6kg
5kg
4kg
3kg
2kg
1kg
300 400 500 600
240
255 280 355
310 430 600
135
155
175
Unit: mm
Rotation center for J6 axis
Rotation center for
J5 axis