Payload And Acceleration Considerations - Omron i4H User Manual

4 Operation
4-1
Payload and Acceleration Considera-
tions
Careful considerations must be made when using high payloads, high accelerations, or a combination
of both.
Use the following diagrams to understand the limitations to acceleration and payload.
Precautions for Correct Use
Operating the robot outside of the payload and speed constraints described in this document
can damage the z-axis quill of the robot.
Payload Z-Location vs. Acceleration at 100% Speed
1100
1000
900
800
700
600
500
400
300
200
100
0
0
Payload Z-Location (mm) = Joint 3 Position + Payload Center of Gravity
4-2
(Linear Moves Only)
100 200 300
130
120
110
100
90
80
70
60
50
40
30
20
10
0
400 500
i4H Robots with EtherCAT User's Manual (I661)
1 kg
2 kg
3 kg
4 kg
5 kg
10 kg
15 kg