YASKAWA MOTOMAN-HP20 - Internal User I;O Wiring Harness and Air Line

7.2 Internal User I/O Wiring Harness and Air Line
7-2
Fig. 15 Allowable Load on U-axis
7.2 Internal User I/O Wiring Harness and Air Line
14 wires (0.2 mm
2
x 8 wires and 1.25 mm
2
x 6 wires) and an air line are used in the manipula-
tor for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 16
Internal User I/O Wiring Harness and Air Line ". The connector pins (1 to 16) are assigned as
shown in "Fig. 17 Detailed Drawing of Connector Pin Numbers." Wiring must be performed
by users, following the conditions below:
• The allowable current for cables: 3 A or less for each cable (the total current value for pins
1 to 16 must be 40 A or less)
• The maximum pressure for the air line: 490 kPa (5 kgf/cm
2
) or less
(the inside diameter: 6.5 mm)
(mm)500200 300 400
30
(kg)
W1=16kg
20
10
W1=20kg
1000
0
-200 -100
W1=10kg
W1=6kg
Distance between Center of U-axis
Rotation and Load Gravity (
direction)
*1 In this case, unbalanced
moment is not permitted.
Weight W2
*1