6-1
177010-1CD
HW1483759
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
MH215
II
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper is
215kg maximum for YR-MH00215-J00.
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 moment of inertia, or load moment is small and 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 1176 (120) 317
B-Axis 1176 (120) 317
T-Axis 710 (72) 200
200018001600
1200
1200
200
1000
LT(mm)
14001200 LB(mm)800400 600 1000
800
600
400
400
200
600
800
1000
LT(mm)
60kg
80kg
100kg
215kg
130kg
165kg
B-axis center of rotation
T-, R-axis
center of rotation
P-point
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