YASKAWA MOTOMAN-HP6 YR-HP6-A00 - Page 29

6.1 Allowable Wrist Load
6-2
HW0481893
Fig. 14 The Diagram Moment/Inertia for R-Axis
Fig. 15 The Diagram Moment/Inertia for B-Axis
Fig. 16
The Diagram Moment/Inertia for T-Axis
Moment(N m)
11.8
15
10
5
0
0.24 0.483
0 0.2 0.4 0.6
GD
2
/4(Kg m
2
)
Moment(N m)
9.8
10
7.5
5
2.5
0
0.17 0.37
0
GD
2
/4(Kg m
2
)
0.1 0.2 0.3
0.4
Moment(N m)
5.9
6
4
2
0
0.06 0.14
0 0.05 0.1 0.15
GD
2
/4(Kg m
2
)