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Allowable load for wrist axis and wrist flange
7.4
The allowable wrist load including the weight of the mount/gripper is 160 kg maximum.
1. The total inertia (GD
2. When the inertia of the volume load on the flange is small, the eccentricity of load center
measured from T-axis flange rotation center is in the range shown in fig. Moment of arm
rating at page 46. When the inertia of the volume load on the flange (Ji) is large, use
the following formula to calculate the eccentricity L
J = Ji + WL
J: Total moment of inertia (GD2/4) of the T-axis (kgm²)
Ji: Inertia of the volume load on flange (kgm²)
W: Payload (kg)
L
: Eccentricity (mm)
T
P point
1
R-, T-axes rotation center line
2
In order to facilitate the user's system applications , the peripheral equipment mounts and
tapped holes are provided on the wrist unit Fig. 7-3: "Installing peripheral equipment
mounts".
The following conditions should be observed to attach or install peripheral equipment Tab.
7-1: "Installation Conditions".
-
7
40
Allowable Wrist Load
2/4
) of T-axis should be within the given value.
Allowed moment and maximum moment of inertia
Axis
Permissible moment of inertia (kgm²)
T-axis
80 kgm²
T²
1000
800 600 400
200
400
600
800
1000
Fig. 7-2: Moment of arm rating
.
T
1
200
200 400 600 800 1000
W=160 kg
W=100 kg
W=80 kg
2
LB (mm)
B-axis rotation center line
3
All dimensions in mm
3
LT (mm)
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