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Platform
Type
P30
P30
P30
P30
P30
ALL
ALL
ALL
ALL
Platform
Type
P30
P30
P30
ALL
ALL
ALL
ALL
ALL
Payload Inertia vs. Acceleration
The following table provides a general guideline based on typical high-performance use. The
practical inertia for any application will vary depending on the performance requirements.
22793-000 Rev. A
Table 7-5. Payload Mass vs. Acceleration - iX4 650, Stainless Steel Platforms
Payload
Maximum Acceleration
kg
%
12.0
75
10.0
87
8.0
100
6.0
125
4.0
160
3.0
188
2.0
225
1.0
281
0.1
375
Table 7-6. Payload Mass vs. Acceleration - iX4 800
Payload
Maximum Acceleration
kg
%
10.0
90
8.0
120
6.0
200
4.0
300
2.0
560
1.5
580
1.0
600
0.1
612
Table 7-7. Payload Inertia vs. Acceleration
Acceleration
Value
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
1
2
m/s
g
15
1.5
17
1.7
20
2.0
25
2.5
32
3.2
37
3.8
44
4.5
55
5.6
74
7.5
2
m/s
g
17.6
1.8
23.5
2.4
39.2
4.0
58.8
6.0
109.8
11.2
113.7
11.6
117.6
12.0
120.0
12.2
Platform
P31
Allowable Tool Inertia (kg-cm
Chapter 7: Technical Specifications
Preferred Acceleration
1
%
m/s
40
8
46
9
55
11
67
13
86
17
100
20
120
24
150
29
200
39
Preferred Acceleration
1
%
m/s
45
8.8
60
11.8
80
15.7
120
23.5
240
47.0
320
62.7
320
62.7
320
62.7
P32
P34
2
)
2
g
0.80
0.92
1.09
1.33
1.71
2.0
2.4
3.0
4.0
2
g
0.9
1.2
1.6
2.4
4.8
6.4
6.4
6.4
157
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