YASKAWA MOTOMAN-MH80, Instructions Manual, Page: 33 / 77

6-1
158813-1CD
HW1480080
MH80 Manipulator
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 80 kg; however, consider the limitations shown
in
Table 6-1 "Allowable Total Moment of Wrist" to fulfill this condition. If
force is applied to the wrist instead of the load, the forces on R-, B-, and T-
Axes should be within the values shown in
Table 6-1 .
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 “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. 6-1: Moment Arm Rating
Table 6-1: Allowable Total Moment of Wrist
Axis Moment N • m (kgf • m)
1)
1 ( ): Gravitational unit
GD
2
/4 Total Moment of Inertia kg•m
2
R-Axis 392 (40) 28
B-Axis 392 (40) 28
T-Axis 196 (20) 11
P-point
R-, T-axis center of rotation
B-axis center of rotation
LT(mm)
LT(mm)
600
400
200
400
200
400 800
LB(mm)
80kg
70kg
60kg
50kg
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