6-1
180788-1CD
HW1484370
6
Allowable Load for Wrist Axis Flange
6.1 Allowable Wrist Load
MPX2600
6
Allowable Load for Wrist Axis Flange
6.1
Allowable Wrist Load
The allowable wrist load is 15 kg 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 6-1 “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 of Arm Rating”
The allowable total moment of inertia is calculated when the moment is at
the maximum.
Contact your YASKAWA representative beforehand when the moment of
inertia is the only load or the load moment is smaller than moment of
inertia.
Also, when the load is combined as a force but a mass, contact your
YASKAWA representative.
Fig. 6-1: Moment of 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
R-Axis
93.2 (9.5)
3.75
B-Axis
58.8 (6.0)
2.225
T-Axis
19.6 (2.0)
0.20
Moment of MPX2600 Wrist Part
-300 -200 -100 0 100 200 300 X(mm)
15
12
10
2
Y
X
Y(mm)
71 of 116
