YASKAWA MOTOMAN-MH5, Инструкция по эксплуатации, Страница: 35 / 74

6-1
171469-1CD
HW0485750
MH5
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 5 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 Arm Rating” .
The allowable total inertia is calculated when the moment is at the
maximum. Contact your YASKAWA representative beforehand when
moment of inertia is the only load, or load moment is smaller than moment
of inertia . Also contact your YASKAWA representative in advance in a
case where the load mass is combined with an external force.
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 Inertia kg•m
2
R-Axis
B-Axis
T-Axis 12 (1.22)
12 (1.22)
7 (0.71) 0.30
0.30
0.10
LT
86.5
LB
LB(mm)
LT (mm)
1.5kg 3kg 5kg
447 316 244
258
182
141
300
200
100
500 400 300 200 100 0
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