Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MPL80 II Instructions Manual

II
MPL80
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 80 kg. 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)
B-Axis 78.4 (8)
T-Axis 20.5 (2.1)
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 the moment of inertia is created, or when the load moment is small
while the 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
LT(mm)
800 600 400
6-1
1) 2
GD /4 Total Moment of Inertia
2
kg•m
16
6
B-axis center of rotation
400
400
600
800
1000
1200
LB(mm)
T- and R-axes
center of rotation
HW1482870
170904-1CD
LT(mm)
600 800
80kg
60kg
40kg
20kg
10kg
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