IAI America ZR-M - Manual (Page 32)

18
(2) Conditions of transferring load
Transferring mass
Type Rated transferring mass Maximum transferring mass
ZR-S 1 kg 3 kg
ZR-M 2 kg 6 kg
Allowable load inertial moment
Type Allowable inertial moment Remarks
ZR-S 0.015 kg m 2
ZR-M 0.03 kg m 2
Maximum value
* If the load inertial moment exceeds one-third of the allowable inertial moment, vibration may occur
depending on the operating conditions. In this case, adjust the acceleration to a lower level. Also note
that adjusting the acceleration alone may affect the locus in case of interpolated operation. In this case,
also adjust the speed.
Load offset (from the center of the R-axis (rotational axis))
Type Offset
ZR-S 40 mm
ZR-M 50 mm
Center of the R-axis
Load offset
Center of gravity of load
* If the load gets offset, the unit becomes more
likely to cause vibration.
Design the tools so that the load’s center of
gravity aligns with the center of the R-axis
(rotational axis).
If the load must be offset, make sure the
applicable offset in the table is not exceeded.
If vibration occurs, adjust the speed and
acceleration to lower levels.