IAI America IX-NNN3515 - Manual (Page 31)

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5. Precautions for Use
5.3 Carrying Load
Load capacity
Rated load capacity: 1 kg
Maximum load capacity: 3 kg
Load’s permissible moment of inertia
0.015 kg ˜m 2 (both rated and maximum)
Load offset (from the center of axis 4 (rotational axis))
40 mm or less
z Set appropriate acceleration/deceleration according to the mass of the tip and moment of inertia. Failure
to do so may cause the drive part to wear prematurely or may result in damage or vibration.
z If vibration occurs, lower the acceleration/deceleration as appropriate.
z If the load gets offset, the robot becomes more likely to cause vibration. Design the tools so that the load’s
center of gravity aligns with the center of axis 4.
z Do not move the robot horizontally with axis 3 (vertical axis) extended. It may cause the vertical axis to
bend and disable the axis. To move the robot horizontally with axis 3 extended, adjust the speed and
acceleration/deceleration as appropriate.
Center of axis 4 (rotational axis)
Load’s center of gravity
40 mm or less
Caution