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1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Full movement of axis 5 (-125°/+120°)
Axis
5
6
xx1400002028
Pos
A
J
Product specification - IRB 1090
3HAC088057-001 Revision: B
Note
Total load given as: mass in kg, center of gravity (Z and L) in meters and moment
of inertia (J
, J
, J
) in kgm
ox
oy
oz
Robot type
IRB 1090-3.5/0.58
IRB 1090-3.5/0.58
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
© Copyright 2023 ABB. All rights reserved.
2
2
2
. L= sqr (X
+ Y
), see the following figure.
Maximum moment of inertia
2
Ja
= Load x ((Z + 0.064)
5
2
kgm
2
Ja
= Load x L
+ J
≤ 0.085 kgm
6
oz
1 Description
2
+ L
) + max (J
, J
) ≤ 0.175
ox
oy
2
Continues on next page
33
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