YASKAWA MOTOMAN-ES200RN, Instructions Manual, Page: 37 / 82

6.1 Allowable Wrist Load
6-1
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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-ES200RN-A00, A01 : 200kg 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. 6 Allowable Total Moment and Total Inertia ". Contact your
Yaskawa representative for further information or assistance.
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia, or load moment is small and inertia is large. Also,
when the load mass is combined with an outside force, contact your Yaskawa representative.
Fig. 14 Moment Arm Rating
Table. 6 Allowable Total Moment and Total Inertia
Model Axis
Moment N•m
(kgf•m)
*1
GD
2
/4 Inertia kg•m
2
YR-ES200RN-A00, A01
R-Axis
B-Axis
T-Axis
1274(130)
1274 (130)
686 (70)
120
120
70
200
P-point
1000
LT(mm)
1400 1200 LB(mm)
80kg 80kg 80kg
100kg 100kg 100kg
800 400 600 600 600 1000 1000 1000
800
600
400
200
400
200
600
800
1000
LT(mm)
B-axis center of rotation
T-, R-axis
center of rotation
60kg 60kg 60kg
130kg 130kg 130kg
165kg 165kg 165kg
200kg 200kg 200kg
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