Max. Payload within operating space

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:

Note

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.

A0509

A0912

Allowed Moment and Inertia

The allowed moment and inertia for the J4-J6 robot are as follows:

Model Name	J4		J5		J6
Model Name	Allowed Moment	Inertia	Allowed Moment	Inertia	Allowed Moment	Inertia
A0509	50 Nm	0.69 kg㎡	50 Nm	0.69 kg㎡	50 Nm	0.69 kg㎡
A0912	50 Nm	0.69 kg㎡	50 Nm	0.69 kg㎡	50 Nm	0.69 kg㎡
A0509s	11 Nm	0.15 kg㎡	11 Nm	0.15 kg㎡	11 Nm	0.15 kg㎡
A0912s	11 Nm	0.15 kg㎡	11 Nm	0.15 kg㎡	11 Nm	0.15 kg㎡