Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA Motoman-MPL300 II Instructions Manual

MPL300 II
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
160 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
140 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 MPL300 II".
When the inertia of the volume load on the flange (Ji) is large, use the
following formula to calculate the eccentricity L
Formula:
J=Ji+WL
T
J : Total inertia (GD
Ji : Inertia of the volume load on the flange (kg ž m
W : Payload (kg)
L T
: Eccentricity (mm)
Fig. 6-1: Moment Arm Rating for MPL300 II
LT
900 800 700 600 500 400 300 200 100
6-1
2
/4) of T-axis should be within the
2
/4)
2
2
/4) of the T-axis (kg ž m
Center of T-axis flange rotation
100 200 300 400 500 600 700 800 900
100
200
300
400
500
600
700
W=300 kg
800
W=250 kg
900
1000
W=200 kg
1100
LB (mm)
HW1482991
173124-1CD
.
T
2
)
2
)
LT (mm)
52 of 100