Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MC2000 II Instructions Manual

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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 50 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)
R-Axis 110 (11)
B-Axis 110 (11)
T-Axis 55(6)
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
LT(mm)
600
5kg
400
10kg
30kg
45kg
50kg
200
400
600
B-axis center of rotation
LT(mm)
6-1
1)
GD
kg•m
7
7
1
15kg
400 600 800 1000
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2
/4 Total Moment of Inertia
2
T- and R-axes
center of rotation
LB(mm)
31/69