User`s manual

CHAPTER 6 Specifications

6-18

2 R axis allowable moment/inertia moment

2-1 R axis allowable moment/inertia moment

Due to the robot R axis motor and speed reduction gear specifications, there is a

limit to the load that can be applied to the R axis.

If the robot is operated with this limit exceeded, the above drive parts' lives will

decrease and may cause breakage.

The limit of the R axis load is expressed with values called the tolerable moment

and tolerable inertia moment.

For the YP340X, YP320XR, YP220BXR the maximum end weight is 1kg and the

R axis tolerance inertia moment is 0.01 kg · cm · sec

Refer to the examples for calculating the inertia moment on the following page

and confirm that the inertia moment of the R axis load does not exceed the toler-

ance value.

CAUTION

The robot must be operated with correct tolerable moment of inertia and

acceleration coefficients according to the manipulator tip mass and mo-

ment of inertia. If this is not observed, premature end to the life of the drive

units, damage to the robot parts or residual vibration during positioning

may result.