Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-VA1400 Instructions Manual

155556-1CD
VA1400
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 is 3 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 8.8 (0.9)
B-Axis 8.8 (0.9)
T-Axis 2.9 (0.3)
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 "Moment Arm Rating".
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your YASKAWA representative beforehand when
only moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your YASKAWA representative beforehand.
Fig. 6-1: Moment Arm Rating
B-axis rotation center
200
100
0
6-1
1) 2
GD /4 Total Moment of Inertia
2
kg•m
0.27
0.27
0.03
L
B
Load gravity position
200
R-, T-axis
rotation center
W=3 Kg
100 200 300
HW0484963
400
L (mm)
B
35 of 85