4.3
Permissible Load Conditions and Program Setting
This paragraph describes the permissible load conditions of the robot and how to set
up the program according to the load.
4.3.1 Permissible Load Conditions
The robot load conditions are defined by the tool mass, moment of inertia and offset
value of tool gravity center from the center of the tool shaft, as shown in Fig. 4.6 and
Fig. 4.7.
The load conditions permitted for the TH250A, TH350A, TH180 and TH350A‐ T
robots are shown in Table 4.3.
Model
TH250A
Load mass
TH350A
Moment of inertia
TH350A‐ T
Gravity center offset of load
TH180
Load mass
Moment of inertia
Gravity center offset of load
•
The robot life and safety cannot be guaranteed if the robot is operated
under the load conditions exceeding the permissible values.
TRANSPORTATION AND INSTALLATION MANUAL
Table 4.3 Permissible load conditions
Conditions
!
CAUTION
– 78 –
Permissible values
Max. 3 kg
2
Max. 0.0170 kg·m
Max. 70 mm
Max. 2 kg
2
Max. 0.01 kg·m
Max. 50 mm
STE 85389