ER7-700 Industrial robot mechanical maintenance manual
13
2.7
Allowable load of wrist
The mounting load on the front of the robot wrist is affected by the allowable weight of the wrist,
the allowable load torque value, and the allowable moment of inertia. The allowable load torque
value changes according to the actual load inertia moment. The wrist load should be strictly
controlled within each allowable value. When using the robot with a wrist load other than the
allowable value, normal operation cannot be guaranteed.
2.7.1
Allowable handling weight
2.7.2
Allowable maximum static load torque
Robot model
Allow static load torque
J4 axis rotation
J5 axis rotation
J6 axis rotation
ER7-700
16Nm
16Nm
9Nm
2.7.3
Allowable maximum moment of inertia
Robot model
Allowable moment of inertia
J4 axis rotation
J5 axis rotation
J6 axis rotation
ER7-700
0.45 kg
･
m
2
0.45 kg
･
m
2
0.14 kg
･
m
2
2.7.4
Allowable load curve
Figure 2-6 ER7-700 wrist shaft torque diagram
Note: When referring to Figure 2-6, the load center of gravity should be within the range of the wrist torque chart.
Robot model
Allowed to carry weight
ER7-700
7 kg
