Maximum Load And Moment Of Inertia - ABB IRB 14050 Product Specification

1 Description

1.4.3 Maximum load and moment of inertia

1.4.3 Maximum load and moment of inertia
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J
Full movement
Axis
5
6
xx1500000774
Position
A
J
Wrist torque
The table below shows the maximum permissible torque due to payload.
Robot variant
IRB 14050
32
, J , J ) in kgm
0x 0y 0z
Robot variant
IRB 14050 - 0.5/0.5
IRB 14050 - 0.5/0.5
, J , J
0x 0y 0z
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram, contact your local ABB organization.
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2 2 2
. L= √(X + Y ).
Max. value
2
J = Mass x ((Z + 0.045)
5
2
J = Mass x L + J ≤ 0.009 kgm
6 0Z
Description
Center of gravity
Max. moment of inertia around the X, Y and Z axes at center of
gravity.
Max wrist torque Max wrist torque
axes 4 and 5 axis 6
0.64 Nm 0.23 Nm
2
+ L ) + max (J , J ) ≤ 0.012 kgm
0x 0y
2
Max torque valid at
load
0.5 kg
Product specification - IRB 14050
3HAC064627-001 Revision: G
2