Payload And Speed Considerations - Omron i4L Series User Manual

4 Operation
4-1

Payload and Speed Considerations

Careful considerations must be made when using high payloads, high accelerations, or a combination
of both.
If non-linear moves such as joint moves or arc moves are required with high speeds or high payloads,
contact your local OMRON representitive for more information about acceleration and payload limita-
tions.
Use the following chart to understand the limitations to acceleration and payload when making linear
moves. Some linear moves are not achievable over all paths in the working envelope.
Precautions for Correct Use
Operating the robot outside of the payload and speed constraints described in this document
can damage or reduce the service life of the z-axis quill.
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
110
100
90
80
70
60
50
40
30
20
10
0
400 500
i4L Robots User's Manual (I658)
0.3 kg
0.5 kg
1.0 kg
2.0 kg
3.0 kg
4.0 kg
5.0 kg