Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MH5 Instructions Manual

171469-1CD
MH5
6

Allowable Load for Wrist Axis and Wrist Flange

6.1
Fig. 6-1: Moment Arm Rating
6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

Allowable Wrist Load
The allowable wrist load is 5 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-Axes should be within the value
shown in Table 6-1 "Allowable Wrist Load". Contact your YASKAWA
representative for further information or assistance.
Table 6-1: Allowable Wrist Load
Axis Moment N•m (kgf•m)
R-Axis 12 (1.22)
B-Axis 12 (1.22)
T-Axis 7 (0.71)
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown
inFig. 6-1 "Moment Arm Rating".
The allowable total inertia is calculated when the moment is at the
maximum. Contact your YASKAWA representative beforehand when
moment of inertia is the only load, or load moment is smaller than moment
of inertia . Also contact your YASKAWA representative in advance in a
case where the load mass is combined with an external force.
LB
86.5
6-1
1) 2
GD /4 Total Inertia kg•m
0.30
0.30
0.10
5kg
300
258
200
182
LT (mm)
141
100
0 100 200
244
LB(mm)
HW0485750
2
3kg 1.5kg
300 400 500
316 447
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