6 Allowable Load for Wrist Axis and Wrist Flange
6.2 Wrist Flange
6-2
159328-1CD
HW1480497
MS80W Manipulator
When the volume load is small, refer to the moment arm rating shown in
Fig.6-2 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. 6-2: Moment Arm Rating
6.2 Wrist Flange
The wrist flange dimensions are shown in Fig.6-3 Wrist Flange. To make
the alignment mark visible and to enable an easy grease exchange for the
B- and T-axis gears, mount the attachment inside the fitting. Fitting depth
of inside and outside fittings must be 5 mm or less.
Fig. 6-3: Wrist Flange
LT (mm)
L
B (mm)
200
400
200
400
50kg
60kg
70kg
80kg
P-point
R-, T-axis center of rotation
B-axis center of rotation
LT (mm)
Wash off anti-corrosive paint (yellow) on the wrist flange
surface with thinner or light oil before mounting the tools.
P.C.D.80
42
40
6
6
10
+0.012
0
6 dia. hole
(depth: 10)
Alignment mark
Tapped hole M8
(depth: 14) (pitch: 1.25)
(6 holes)
+0.015
0
8 dia. hole
(depth: 14)
+0.025
0
50 dia. hole
0
-0.022
100 dia.
Units: mm
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