HX200/HX200L-2000/HX300/HX300L/HX400

Allowable Moment of Inertia

Table 3-4 Allowable Moment of Inertia

 

 

 

 

 

 

Allowable Load Torque

 

 

Robot Model

 

 

 

 

 

 

 

 

 

 

 

 

 

R2 Axis

 

 

B Axis Rotation

 

 

R1 Axis Rotation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Rotation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

HX300/300L

 

150kg·m²(15.3kgf·m·s²)

 

30 kg·m²(3.1 kgf·m·s²)

 

 

 

 

 

 

 

HX400

 

120 kg·m²(12.2 kgf·m·s²)

 

50 kg·m²(5.1 kgf·m·s²)

 

 

 

 

 

 

 

 

 

 

 

 

HX200L/200L-2000

 

117.6 kg·m²(12.0 kgf·m·s²)

 

58.8 kg·m²(6.0

 

 

 

kgf·m·s²)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Loads must be kept below maximum conditions shown in [Fig. 3.8~Fig 3.10].

[Fig 3.8] and [Fig 3.10] show the possible range in which a point load can be positioned, assuming the attached load is a particle. However, as the actual load(End Effector) is not a particle, calculate and evaluate the moment of inertia on each axis. The following exmple shows moment of inertia calculation assuming the attached load is a particle.

[Example〕An attached load weight is 200Kg with the 【 HX300 】Model

￿Allowable position of the center of gravity from the center of R1 axis

①Allowable position of the center of gravity from the center of Axis R1

LR1 ≤ (Allowable Torque) / (Load Weight)

LR1 = 687 N·m / (200Kg×9.8 m/s2) = 0.35 m

②Allowable position of the center of gravity from the allowable moment of

inertia

LR1 ≤ (Allowable moment of inertia/ Load Weight)1/2

=(30 kg·m2 / 200 kg )1/2 = 0.387 m( > 0.35 m)

From the above result, the maximum distance from the center of R1 axis becomes 0.35 m, being restricted by the allowable moment of inertia.

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