Payload in Axis 5 & 6

JuanCappelletti
Argentina ✭
in IRC5
Hi, I´am using Roboload for calculate the load in J6 an J5, but I would like understand the way that the software solve it.
I was looking for in the handbook and I found this ecuations.

Ja5 =Load (Kg) x (( z(m)+0.2^0.35)^2 + L^2) + max (J0x,J0y) <= 250 kgm2.
Ja6= Load (kg) x L^2 +J0z<=185 kgm2.
I did the calculations to compare with robotload. For J6 it was correct, manually and with robotload its same , but J5, I never get the output that robotload gets.
thank you in advance for an answer.
best regards
Juan
Ja5 =Load (Kg) x (( z(m)+0.2^0.35)^2 + L^2) + max (J0x,J0y) <= 250 kgm2.
Ja6= Load (kg) x L^2 +J0z<=185 kgm2.
I did the calculations to compare with robotload. For J6 it was correct, manually and with robotload its same , but J5, I never get the output that robotload gets.
Can you help to understand how is the calculation?
There are some example or note about that for clear it . thank you in advance for an answer.
best regards
Juan
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