IAI America IX-NNN8040 - Manual (Page 33)

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5. Precautions for Use
Caution
5.3 Carrying Load
Load capacity
Type Rated load capacity Maximum load capacity
IX-NNN50 /60 2 kg 10 kg
IX-NNN70 /80 5 kg 20 kg
Load’s permissible moment of inertia
Type Permissible moment of inertia Remarks
IX-NNN50 /60 0.06 kg xm 2
IX-NNN70 /80 0.10 kg xm 2
Both rated and maximum
Load offset (from the center of axis 4 (rotational axis))
50 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.
50 mm or less
Load’s center of gravity
Center of axis 4 (rotational axis)