YASKAWA Motoman MH Series, Manual

Page: 84 / 116

PERFORMANCE CHARTS
MH-Series Positioner Manual with MotoMount A-2 MOTO MAN
A.1.2 MH150
Figure A-2 MH150 Performance Charts
Rated Holding Torque (N*m)= 212
Load CG Offcenter
r (mm) Rated W (kgf) Max W (kgf)
50 432 648
60 360 540
80 270 405
100 216 324
120 180 270
140 154 232
160 135 203
180 120 180
200 108 162
220 98 147
240 90 135
260 83 125
280 77 116
300 72 108
Maximum Bearing Moment (N*m) = 882
Load CG Overhang (from Tooling Plate)
D (mm) Rated W (kgf) Max W (kgf)
50 276 414
75 239 359
100 211 317
125 189 283
150 171 256
175 156 234
200 144 215
225 133 200
250 124 186
275 116 174
300 109 163
325 103 154
350 97 146
375 92 138
400 88 131
425 84 125
450 80 120
475 76 115
500 73 110
Note: 1) HTS Applications assume 1/2 load on
headstock @ 50 mm, using MotoMount.
2) Rated load based upon 50% maximum bearing
moment.
3) Maximum load based upon 75% maximum
bearing moment.
Reflected Ratio
Load Inertia Jl/Jm
58 2.5
64 2.75
70 3
76 3.25
82 3.5
87 3.75
93 4
99 4.25
105 4.5
111 4.75
117 5
122 5.25
128 5.5
Note: Maximum recommend inertia ratio is 5.
Holding Torque; Load CG Offcenter
0
100
200
300
400
500
600
700
0 50 100 150 200 250 300
CG Offcenter, r (mm)
Application Load, W (kgf)
Rated W (kgf)
Max W (kgf)
Rated Bearing Moment; Load CG Overhang
0
50
100
150
200
250
300
350
400
450
500
0 100 200 300 400 500
Rated W (kgf)
Max W (kgf)
Allowable Load Inertia
2
2.5
3
3.5
4
4.5
5
5.5
6
55 80 105 130
Application Inertia (kg*m
2
)
Inertia Ratio, Jl/Jm
Jl/Jm