The maximum payload of the robot within its operating space changes according to the distance from the center of gravity. Payload per distance is as follows:
This load diagram assumes a small tool load volume. Tools with a larger volume will have greater limitations in payload above the tool’s center of gravity compared to a tool with an equal weight but smaller volume, and in such cases, vibration may occur.
M0609
M0617
M1013
M1509
H2017
H2515
Allowed Moment and Inertia
The allowed moment and inertia for the J4-J6 robot are as follows:
|
Model Name
|
J4 |
J5 |
J6
|
|||
|---|---|---|---|---|---|---|
|
Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
|
|
M0609 |
36 Nm |
1.6 kg㎡ |
36 Nm |
1.6 kg㎡ |
36 Nm |
1.6 kg㎡ |
|
M0617 |
||||||
|
M1013 |
||||||
|
M1509 |
||||||
|
H2017 |
145 Nm
|
8.0 kg㎡
|
81Nm |
4.5 kg㎡
|
36 Nm
|
2.0 kg㎡ |
|
H2515 |
||||||