YASKAWA MOTOMAN-MS165 - Page 51

6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-2
167109-1CD
HW1482308
MS165
Fig. 6-1: Moment Arm Rating
P-point
Without flange for cable processing spec.
With flange for cable processing spec.
P-point
B-axis center of rotation
B-axis center of rotation
R-, T
-axis
center of rotation
R-, T-axis
center of rotation
200
600
800
1000
1200
LT(mm)
60kg
400
200
600
800
1000
1200
400
LT(mm)
LB(mm)
80kg
100kg
130kg
165kg
180kg
40kg
200
600
800
1000
1200
LT(mm)
60kg
400
200
600
800
1000
1200
400
LT(mm)
LB(mm)
80kg
100kg
130kg
165kg
40kg
400
600
800
1000
1200
1400
1600
400
600
800
1000
1200
1400
1600
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