YASKAWA MOTOMAN-ES200RD II - Allowable Load for Wrist Axis and Wrist Flange; Allowable Wrist Load

6-1
170625-1CD
HW1482737
ES200RD II
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 200 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 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
R-Axis 1344 (137) 143
B-Axis 1344 (137) 143
T-Axis 715 (73) 80
200
60kg
1000
LT (mm)
14001200
LB (mm)
80kg
100kg
200kg
800400
130kg
600
165kg
1000
800
600
400
400
200
600
800
1000
LT (mm)
P-point
T-, R-axis
center of rotation
B-axis center of rotation
45 of 100