Maximum Load And Moment Of Inertia For Axis 5 - ABB IRB 1200 Product Specification

1.4.3 Maximum load and moment of inertia for axis 5

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 (±130º)
Axis
5
6
xx1400000342
Position
A
J
Limited axis 5, center line down
Axis
5
6
Product specification - IRB 1200
3HAC046982-001 Revision: O
, J , J ) in kgm
ox oy ox
Robot variant
IRB 1200-7/0.7
IRB 1200-5/0.9
IRB 1200-7/0.7
IRB 1200-5/0.9
, J , J
ox oy oz
Robot variant
IRB 1200-7/0.7
IRB 1200-5/0.9
IRB 1200-7/0.7
IRB 1200-5/0.9
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1.4.3 Maximum load and moment of inertia for axis 5
2
. L= √( + ).
X2 Y2
Max. value
2
J = Mass x ((Z + 0.082)
5
2
J = Mass x ((Z + 0.082)
5
2
J = Mass x L + J ≤ 0.2 kgm
6 0Z
2
J = Mass x L + J ≤ 0.2 kgm
6 0Z
Description
Center of gravity
Max. moment of inertia around the X, Y and Z axes at center of
gravity.
Max. value
2
J = Mass x ((Z + 0.082)
5
2
J = Mass x ((Z + 0.082)
5
2
J = Mass x L + J ≤ 0.2 kgm
6 0Z
2
J = Mass x L + J ≤ 0.2 kgm
6 0Z
1 Description
2
+ L ) + max (J , J ) ≤ 0.45 kgm
ox oy
2
+ L ) + max (J , J ) ≤ 0.45 kgm
ox oy
2
2
2
+ L ) + max (J , J ) ≤ 0.45 kgm
ox oy
2
+ L ) + max (J , J ) ≤ 0.45 kgm
ox oy
2
2
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2
2
2
2
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