Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MH600 Instructions Manual

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 gripper is 600 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 as shown in table 6-1 "Moment and
Total Moment of Inertia" . Contact your YASKAWA representative for
further information or assistance.
Table 6-1: Moment and Total Moment of Inertia
Axis Moment N•m (kgf•m)
R-axis 3430 (350)
B-axis 3430 (350)
T-axis 1764 (180)
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
200
200
200
400
600
800
LT(mm)
B-axis
center of rotation
6-1
1) 2
GD /4 Total Moment of
Inertia kg•m
520
520
350
300kg
400kg
500kg
600kg
400 600 800 1000 1200 1400
HW1483270
HW1483270
2
T-, R-axis
center of rotation
LB(mm)
32/88