7.1 Peripheral Equipment Mounts
7-1
HW0484074
HW0484074
7
System Application
7.1
Peripheral Equipment Mounts
The peripheral equipment mounts are fixed on the upper arm for easier installation of the
user's system application as shown in "Fig. 13 Installing Peripheral Equipment". Observe the
conditions in the following sections and the figure in mounting the peripheral equipment on the
U-axis.
7.1.1
Allowable Mass
The allowable mass loaded on the U-Axis is a maximum of 24 kg, including the mass on the
wrist. For instance, when the mass installed in the wrist point is 15 kg, the allowable mass on
the upper arm would be 9 kg or less.
The allowable mass on the S-head (the rotary head) is a maximum of 20 kg. Mount the
peripheral equipment on the S-head so that the moment of inertia (GD
2
/4) from the S-axis
rotation center would be 1.25 kg·m
2
or less.
7.1.2
Installation Position
There is a limitation on where to install the peripheral equipment as shown in "Fig. 13
Installing Peripheral Equipment" on the following page.
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