YASKAWA MOTOMAN-MPL100 - 6 Allowable Load for Wrist Axis and Wrist Flange; Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
157569-1CD
HW0485652
MPL100
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 
100 kg maximum.
1. The total moment of inertia (GD
2
/4) of T-axis should be within the
value shown in Table 6-1 "Allowable Total Inertia".
2. When the inertia of the volume load on the flange is small, the
eccentricity of load center measured from T-axis flange rotation center
is in the range shown in Fig. 6-1 “Moment Arm Rating for MPL100”.
When the inertia of the volume load on the flange (Ji) is large, use the
foll
owing formula to calculate the eccentricity L
T
.
Table 6-1: Allowable Total Inertia
T- Axis Total Moment of Inertia (GD
2
/4)
kg•m
2
80 kg•m
2
J=Ji+WL
2
T
J
Ji
W
L
T
: Total inertia (GD
2
/4) of the T-axis (kg

m
2
)
: Inertia of the volume load on the flange (kg

m
2
)
: Payload (kg)
: Eccentricity (mm)
Formula:
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