YASKAWA MOTOMAN-MPL80 II, Instructions Manual, Page: 40 / 81

6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
170904-1CD
HW1482870
MPL80
II
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 80 kg. 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 6-1 “Allowable Wrist Load” . Contact your Yaskawa representative
for further information or assistance.
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 “Moment Arm Rating” .
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only the moment of inertia is created, or when the load moment is small
while the moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your Yaskawa representative
beforehand.
Fig. 6-1: Moment Arm Rating
Table 6-1: Allowable Wrist Load
Axis Moment N • m (kgf • m)
1)
1 ( ): Gravitational unit
GD
2
/4 Total Moment of Inertia
kg•m
2
B-Axis 78.4 (8) 16
T-Axis 20.5 (2.1) 6
800 600 400
20kg
1200
1000
800
600
400
800 600 400
LT(mm)
10kg
40kg
60kg
80kg
LB(mm)
LT(mm)
T- and R-axes
center of rotation
B-axis center of rotation
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