Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA MOTOMAN-MH215 II Instructions Manual

177010-1CD
MH215
II
6

Allowable Load for Wrist Axis and Wrist Flange

6.1
Fig. 6-1: Moment Arm Rating
P-point
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
215kg maximum for YR-MH00215-J00.
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 1176 (120)
B-Axis 1176 (120)
T-Axis 710 (72)
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.
LT(mm)
1200
60kg
1000
80kg
800
100kg
600
400
215kg
200
165kg
130kg
400 600
200
400
600
800
1000
1200
LT(mm)
B-axis center of rotation
1) 2
GD /4 Total Moment of Inertia kg•m
317
317
200
800 1000 1200 1400 1600
HW1483759
6-1
2
T-, R-axis
center of rotation
1800 2000 LB(mm)
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