YASKAWA MOTOMAN-HP6 YR-HP6-A00 Instructions Manual page 28

6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 6kg. 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. 5 Moment and Total Inertia ".
Contact your Yaskawa representative for further information or assistance.
Axis
R-Axis
B-Axis
T-Axis
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 12 Moment Arm
Rating".
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia moment, or load moment is small and inertia
moment is large. Also, when the load mass is combined with an outside force, contact your
Yaskawa representative in advance.
B-axis rotation center line
Table. 5 Moment and Total Inertia
Moment N•m (kgf•m)
11.8 (1.2)
9.8 (1.0)
5.9 (0.6)
L
B
Load gravity
95
position
R-, T-axes rotation
center line
Fig. 13 Moment Arm Rating
6-1
*1 2
GD /4 Total Inertia kg•m
0.24
0.17
0.06
200
141
W=3Kg
100
W=6Kg
0 100
L
HW0481893
2
167 238
200 300
(mm)
B