Maximum Load And Moment Of Inertia For Full Axis 5 Movement - ABB IRB 4400/45 Product Specification

1.5.3 Maximum load and moment of inertia for full axis 5 movement

General
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of
inertia (J
Full movement of Axis 5 (±120º)
5
Axis Robot Type
5
6
Axis Robot Type
5
6
Axis Robot Type
5
6
Axis Robot Type
5
6
Figure 18 Moment of inertia when full movement of axis 5.
Pos
A
J
3HAC9117-1
1.5.3 Maximum load and moment of inertia for full axis 5 movement
, J , J ) in kgm
ox oy oz
Max. value
IRB 4400/L10 J
5
IRB 4400/L10 J = Mass x L
6
Max. value
IRB 4400/L30, J
5
IRB 4450S
IRB 4400/L30, J
6
IRB 4450S
Max. value
IRB 4400/45 J
5
IRB 4400/45 J
6
Max. value
IRB 4400/60 J
5
IRB 4400/60 J
6
Description
Center of gravity
Description
, J , J
Max. moment of inertia around the X, Y and Z axes at center of gravity.
ox oy oz
√(
2
2 2
. L= ), see Figure 18.
X + Y
2
= Mass x ((Z + 0.085) + L
2
≤
+ J 0.70 kgm
0Z
2 2
= Mass x ((Z + 0.14) + L
2 ≤
= Mass x L + J 12.0 kgm
0Z
2 2
= Mass x ((Z + 0.14) + L
2 ≤
= Mass x L + J 16.5 kgm
0Z
2 2
= Mass x ((Z + 0.14) + L
2 ≤
= Mass x L + J 17.5 kgm
0Z
Rev.N
1 Description
2 ≤
) + max (J , J ) 1.15 kgm
0x 0y
2
≤
) + max (J , J ) 22.0 kgm
0x 0y
2
≤
) + max (J , J ) 25.0 kgm
0x 0y
2
≤
) + max (J , J ) 30.0 kgm
0x 0y
2
2
2
2
2
33