Maximum Load And Moment Of Inertia For Full And Limited Axis 5 (Center Line Down) Movement - ABB IRB 120 Product Specification

1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement

1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J
Full movement of axis 5 (±115º)
Axis
5
6
xx0800000458
Pos
A
J
Limited axis 5, center line down
Axis
5
6
Product specification - IRB 120
3HAC035960-001 Revision: T
, J , J ) in kgm
ox oy ox
Robot Type
IRB 120(T)-3/0.6
IRB 120(T)-3/0.6
, J , J
ox oy oz
Robot Type
IRB 120(T)-3/0.6
IRB 120(T)-3/0.6
© Copyright 2010-2019 ABB. All rights reserved.
2
. L= √( + ), see Figure 8.
X2 Y2
Max. value
2
J = Mass x ((Z + 0.072)
5
2
J = Mass x L + J ≤ 0.085 kgm
6 0Z
Description
Center of gravity
Description
Max. moment of inertia around the X, Y and Z axes at center of
gravity.
Max. value
2
J = Mass x ((Z + 0.072)
5
2
J = Mass x L + J ≤ 0.085 kgm
6 0Z
1 Description
2
+ L ) + max (J , J ) ≤ 0.175 kgm
ox oy
2
2
+ L ) + max (J , J ) ≤ 0.175 kgm
ox oy
2
Continues on next page
2
2
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