YASKAWA MOTOMAN-MS165, Instructions Manual

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6-1
167109-1CD
HW1482308
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
MS165
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 as
follows at each specification.
YR-MS165/MH180-A00
: 180 kg maximum (without flange for cable processing specification)
(Refer to fig. 5-3 “Dimensions and P-Point Maximum Envelope” .)
: 165 kg maximum (with flange for cable processing specification)
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
fig. 6-1(a) “Allowable Wrist Load
(without flange for cable processing specification)” and fig. 6-1(b)
“Allowable Wrist Load (with flange for cable processing specification)” .
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 moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your YASKAWA representative beforehand.
Table 6-1(a): Allowable Wrist Load (without flange for cable processing
specification
1)
)
1 Refer to fig. 5-3 .
Axis Moment N • m (kgf • m)
2)
2 ( ): Gravitational unit
GD
2
/4 Total Moment of Inertia kg•m
2
R-Axis 1000 (102) 90
B-Axis 1000 (102) 90
T-Axis 618 (63) 46.3
Table 6-1(b): Allowable Wrist Load (with flange for cable processing
specification
1)
)
1 Refer to fig. 5-3 .
Axis Moment N • m (kgf • m)
2)
2 ( ): Gravitational unit
GD
2
/4 Total Moment of Inertia kg•m
2
R-Axis 951 (97) 88
B-Axis 951 (97) 88
T-Axis 618 (63) 46.3
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