Allowable Load - YASKAWA MOTOMAN-HP6 YR-HP6-A00 Instructions Manual

HW0481893
7 System Application
7.1
Mounting Equipment
The peripheral equipment mounts are provided on the U-Axis (upper arm) and S-Axis (rotary
head) as shown in " Fig. 18 Installing Peripheral Equipment " for easier installation of the
users' system applications. The following conditions should be observed to attach or install
peripheral equipments.
7.1.1

Allowable Load

• The allowable load on the U-Axis is a maximum of 15 kg, including the wrist load.
For instance, when the mass installed in the wrist point is 6 kg, the mass which can be
installed on the upper arm becomes 9 kg.
• The allowable load on the S-Axis is a maximum of 20 kg. Install the peripheral equipment
on the S-Axis so that the moment of inertia (GD
becomes 1.25 kg m
2
or less.
7-1
7.1 Mounting Equipment
2
/4) from the S-Axis rotation center