ABB IRB 120 - Maximum Load and Moment of Inertia for Full and Limited Axis 5 (Center Line Down) Movement

1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J
ox
, J
oy
, J
ox
) in kgm
2
. L= √(
X2
+
Y2
), see Figure 8.
Full movement of axis 5 (±115º)
Max. valueRobot TypeAxis
J
5
= Mass x ((Z + 0.072)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.175 kgm
2
IRB 120(T)-3/0.65
J
6
= Mass x L
2
+ J
0Z
≤ 0.085 kgm
2
IRB 120(T)-3/0.66
xx0800000458
DescriptionPos
Center of gravityA
Description
Max. moment of inertia around the X, Y and Z axes at center of
gravity.
J
ox
, J
oy
, J
oz
Limited axis 5, center line down
Max. valueRobot TypeAxis
J
5
= Mass x ((Z + 0.072)
2
+ L
2
) + max (J
ox
, J
oy
) ≤ 0.175 kgm
2
IRB 120(T)-3/0.65
J
6
= Mass x L
2
+ J
0Z
≤ 0.085 kgm
2
IRB 120(T)-3/0.66
Continues on next page
Product specification - IRB 120 23
3HAC035960-001 Revision: T
© Copyright 2010-2019 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement