Permissible Load Conditions And Program Setting; Permissible Load Conditions - Toshiba TVL Series Instruction Manual

10.3. Permissible Load Conditions and Program Setting

This paragraph describes the permissible load conditions of the robot and how to
set up the program according to the load.
10.3.1.

Permissible Load Conditions

The robot load conditions are defined by the tool mass, moment of inertia and
offset value of tool gravity center from the center of the tool shaft, as shown in Fig.
10.4 and Fig. 10.5
The permissible load conditions for TVL500/TVL700 are shown in Table 10.1.
Conditions
Type
Mass
Load inertia
Offset value of load
gravity center
Center gravity offset
TRANSPORTATION AND INSTALLATION MANUAL
Table 10.1 Permissible load conditions
TVL500
Rating 1 kg (Max. 3 kg)
Axes4 and 5: 0.15 kg•m
axis 6: 0.2 kg•m
Max. 100 mm (load ≤ 3 kg)
axis 5
Tool center gravity
Fig. 10.4 Explanation of inertia moment
Permissible values
Rating 1 kg (Max. 4kg)
2
Axes4 and 5: 0.09 kg•m
2
Max. 100 mm (load ≤ 4 kg)
Center gravity offset
axis 4 and 6
116
TVL700
2
axis 6: 0.1 kg• m
Robot arm
2