BA II Arm Robot Catalog - TM Robotics - #222

Maximum payload and allowable load moment given in this manual are the values calculated based on the following service life of guide.

They are commonly used for both ball-screw driven and timing-belt driven axes of each axis type.

As the moment caused by a load imposed on the actuator largely affects the slider bearing unit, the following matters should be considered at use.

• A load exceeding the maximum payload should not be exerted.

This value can be determined based on the servo motor capacity and differs with the acceleration/deceleration time.

• The moment should not exceed the allowable static load moment.

This is the moment caused during stop. For the inserting work by using a cylinder attached to the slider, reaction force should be considered. Impact load MUST NOT be exerted.

• The moment should not exceed the allowable dynamic load moment. This is the moment caused by acceleration or deceleration.

The value varies with the load, arm length, direction, etc. Refer to the value given in the table below as a yardstick.

Both allowable static load moment and allowable dynamic load moment are described below. For the maximum payload, see the specifications of each actuator.

MY

1 .Allowable Static Load Moment

MR: Rolling moment MP: Pitching moment MY: Yawing moment

MP

MR

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to

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2.Allowable Dynamic Load Moment

Dynamic load moment of an actuator largely influences its life and performance. Allowable dynamic load moment should be calculated, considering the acceleration/deceleration time, (acceleration), load , arm length, direction, speed, stroke, etc., based on the allowable moment of bearing.

Given in the following pages are the tables of allowable dynamic load moment tabulating the load and allowable arm length so that the allowable dynamic load moment can be obtained easily.

Load mass (W kg) and arm length up to the center of gravity of the load (L mm) are shown in each table. (They are not the values of allowable load moment.)

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