Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MPL100 Instructions Manual

MPL100
6

Allowable Load for Wrist Axis and Wrist Flange

6.1
6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper is 
100 kg maximum.
1. The total moment of inertia (GD
value shown in Table 6-1 "Allowable Total Inertia".
Table 6-1: Allowable Total Inertia
T- Axis Total Moment of Inertia (GD
2
kg•m
2
80 kg•m
2. When the inertia of the volume load on the flange is small, the
eccentricity of load center measured from T-axis flange rotation center
is in the range shown in Fig. 6-1 "Moment Arm Rating for MPL100".
When the inertia of the volume load on the flange (Ji) is large, use the
following formula to calculate the eccentricity L
Formula:
2
J=Ji+WL
T
J : Total inertia (GD
: Inertia of the volume load on the flange (kg  m
Ji
W : Payload (kg)
L T : Eccentricity (mm)
6-1
2
/4) of T-axis should be within the
2
/4)
.
T
2
2
/4) of the T-axis (kg  m
HW0485652
157569-1CD
)
2
)
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