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7.5 Performance Specifications
NOTE: The P30 platform is not listed in this table because this platform does
not rotate. Payloads for the P30 platform should be designed with their center-of-
mass in line with the center axis of the tool flange. This will minimize induced
torque during XYZ motions.
Payload Center of Gravity Specifications
Use the information in the table below for maximum allowable center of gravity for the pay-
load.
The distance is measured from the mounting surface of the flange.
Additional Information: The recommended allowable center of gravity values
are half the values provided in the table below.
Acceleration
100%
80%
60%
40%
20%
Max Allowable Moment: 3 kg * 78 m/s² * 0.025 m = 5.85 N·m.
Stopping Time and Distance
The following graphs present information required by Clause 7.2 n of ISO 10218-1. This inform-
ation should be used to calculate the safe distance needed when designing and installing safe-
guarding devices.
WARNING: The stopping time and distance from initiation of a stop signal is
!
not negligible and must be taken into account when designing and applying
safeguarding devices.
158
100
750
250
300
500
150
750
100
Table 7-8. Maximum Allowable Center of Gravity
Maximum Allowable Center of Gravity
3 kg
25 mm
31 mm
41 mm
62 mm
125 mm
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Platform
188
47
75
19
37
9
25
6
Payload
2 kg
37 mm
47 mm
62 mm
93 mm
187 mm
1 kg
75 mm
93 mm
125 mm
187 mm
375 mm
22793-000 Rev. A
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