Chapter 2: Specifications 9
99-04-23
Payload
Payload is the amount of mass (weight) carried by the arm and/or the amount of
force the arm can exert on an object. This includes the gripper and any load that it
carries.
The maximum and nominal payloads are determined for speed and acceleration
that maintain rated precision. For rated precision, the arm travels at a reduced
speed to carry the maximum payload, and the arm must carry a reduced payload
to travel at maximum speed.
The maximum payload depends on the distance between the center of the tool
flange surface and the center of gravity of the payload as shown in the payload
derating tables and curves.
Payload Speed Mass
Maximum 80% speed or acceleration 2.0 kilograms
Nominal 100% speed or acceleration 1.0 kilograms
Axial Distance From Tool Flange Surface
Distance Mass
inch mm lbs. kg
0.00 0.0 4.40 2.00
2.00 50.8 4.40 2.00
4.00 101.6 3.17 1.44
6.00 152.4 2.37 1.08
8.00 203.2 1.90 0.86
10.00 254.0 1.58 0.72
Radial Distance From Tool Flange Center
Distance Mass
inch mm lbs. kg
0.00 0.0 4.40 2.00
2.16 54.8 4.40 2.00
4.00 101.6 2.37 1.08
6.00 152.4 1.58 0.72
8.00 203.2 1.18 0.54
10.00 254.0 0.95 0.43
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