Motoman SK300X, Manual

Page: 106 / 553

6.1 Allowable Wrist Load
6-1
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper is:
• YR-SK300-J0 : 300kg maximum
• YR-SK300-J1 : 170kg maximum
• YR-SK300-J2 : 400kg maximum
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. 4 Moment and Total Inertia ". Contact your Yaskawa representa-
tive for further information or assistance.
*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 reprsentative when only inertia moment, or load moment is small and inertia
moment is large. Also, when the load is combined as a force but a mass, contact your
Yaskawa representative.
Table. 4 Moment and Total Inertia
Model Axis
Moment N•m
(kgf•m)
*1
GD
2
/4 Total Inertia kg•m
2
YR-SK300-J0
R-Axis
B-Axis
T-Axis
1660 (170)
1660 (170)
686 (70)
150
150
30
YR-SK300-J1
R-Axis
B-Axis
T-Axis
1176 (120)
1176 (120)
686 (70)
85
85
30
YR-SK300-J2
R-Axis
B-Axis
T-Axis
1960 (200)
1960 (200)
823 (84)
120
120
50