Denso HS-G Series General Information Manual page 41

(3) Moment of inertia around the T axis
The moment of inertia of a hand or tool (including work-piece) around the T axis
should be less than the maximum allowable moment of inertia around the T axis of the
robot.
Hand's moment of inertia (incl. Work-piece) around the T axis ≤
Max. allowable moment of inertia
Calculate the moment of inertia around the T axis according to the graph given below.
NOTE: You may program the reduced ratio of the speed and acceleration individually
within the range specified below. If you set the reduced ratio of the programmed
speed only, the controller automatically calculates that of the acceleration according to
the formula below.
Application sample of hand's moment of inertia
To run the robot at 100% of the programmed speed and acceleration: The moment

of inertia around the T axis should be 0.03 kgm
If the moment of inertia around the T axis is 0.04 kgm

of the programmed speed and at 81% or less of the programmed acceleration.
When calculating the hand's or tool's moment of inertia around the T axis, refer to the moment-of-inertia
formulas on the next page.
Acceleration (%) = (Speed/100)
Speed and
acceleration (%)
110
100
90
80
70
60
50
40
30
20
10
0
0 0.01 0.02 0.03
Hand's moment of inertia (kgm
Chapter 3 Specifications of the Robot Unit
2
x100
2
or less.
Speed
Acceleration
0.04 0.05 0.06 0.07 0.08 0.09
2
)
35
2
: Run the robot at 90% or less
0.1
(Max.)