YASKAWA MOTOMAN-MA1900 - Allowable Load for Wrist Axis and Wrist Flange; Allowable Wrist Load

6-1
156226-1CD
HW0484971
MA1900
6
Allowable
Load
for
Wrist
Axis
and
Wrist
Flange
6.1
Allowable
Wrist
Load
6
Al
lo
wa
bl
e L
oa
d f
or
Wr
is
t A
xi
s a
nd
W
ri
st
Fl
an
ge
6
.1
Al
lo
wa
bl
e W
r
is
t L
o
a
d
The allowable wrist load is 3 kg
maximum.
If force is applied to the w
rist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in
T
able 6-1 Allowable
Wrist Load
.
Contact
your Y
askawa
Motoman 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 Y
askawa representative beforehand w
hen
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 Motoman
representative beforehand.
Fig.
6-1: Mom
ent Arm R
ating
Table 6-1: Allowable Wrist Load
A
x
i
s
M
o
m
e
n
t
N
•
m (kgf
•
m)
1)
1
( )
: Gr
av
ita
ti
on
al u
ni
t
GD
2
/4 To
tal Mom
ent of Inertia
kg•m
2
R
-
A
x
i
s
8
.
8
(
0
.
9
)
0
.
2
7
B
-
A
x
i
s
8
.
8
(
0
.
9
)
0
.
2
7
T
-
A
x
i
s
2
.
9
(
0
.
3
)
0
.
0
3
Load gravity position
400
(mm)
L
B
(
m
m
)
T
L
W=3Kg
200
100
300
200
100
0
B
T
L
L
200
B-axis rotation center
R-, T-axis rotation center
31/79