YASKAWA MOTOMAN-HP6 YR-HP6-A00 Instructions Manual page 29

HW0481893
15
10
5
0
10
7.5
5
2.5
0
6
4
2
0
11.8
0.24
0 0.2
Fig. 14 The Diagram Moment/Inertia for R-Axis
9.8
0.17
0 0.1
Fig. 15 The Diagram Moment/Inertia for B-Axis
5.9
0.06
0 0.05
The Diagram Moment/Inertia for T-Axis
Fig. 16
0.483
0.4 0.6
GD /4 (Kg m )
2 2
0.37
0.2 0.3
GD /4 (Kg m )
2 2
0.14
0.1 0.15
GD /4 (Kg m )
2 2
6-2
6.1 Allowable Wrist Load
0.4