Allowable Wrist Load - Nachi SRA220H Series Manual

6. Allowable wrist load

Load fixed on the tip of wrist is regulated by "allowable payload mass", "allowable static
load torque", and "allowable moment of inertia". Strictly keep the wrist load within each
allowable value. If wrist load exceeds the allowable value, this robot is out of guarantee.
Refer to the table of "2. Basic specifications" and following figures for the detail of each
CAUTION
specification.
■ Torque map
C.O.G. of wrist load should exist inside the range shown below.
【SRA220H-01】
【SRA220HV-01】
■ Wrist load conditions
Static load torque and moment of inertia of wrist load should exist inside the range shown below.
If the real inertia is over the limit written in "2. Basic specifications", maximum speed will
IMPORTANT be restrained by software.
【SRA220H-01】
【SRA220HV-01】
Axis 6
Page-11
Axis 4, 5