YASKAWA MOTOMAN-MH600 Instructions Manual

Contents

YASKAWA MOTOMAN-MH600 Instructions Manual Manual pdf 32 page image

6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load6-1HW1483270HW14832706 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist LoadThe allowable wrist load including the weight of the gripper is 600 kgmaximum. If force is applied to the wrist instead of the load, force on R, B,and T axes should be within the value as shown in table 6-1 “Moment andTotal Moment of Inertia” . Contact your YASKAWA representative forfurther information or assistance.When the volume load is small, refer to the moment arm rating shown infig. 6-1 “Moment Arm Rating” .The allowable total moment of inertia is calculated when the moment is atthe maximum. Contact your YASKAWA representative beforehand whenonly the moment of inertia is created, or when the load moment is smallwhile the moment of inertia is large. Also, when the load mass iscombined with an outside force, contact your YASKAWA representativebeforehand.Fig. 6-1: Moment Arm RatingTable 6-1: Moment and Total Moment of InertiaAxis Moment N•m (kgf•m) 1)1 ( ) : Gravitational unitGD2 /4 Total Moment ofInertia kg•m 2R-axisB-axisT-axis3430 (350)3430 (350)1764 (180)520520350T-, R-axiscenter of rotationB-axiscenter of rotation200200400600800200400600800400 600 800 1000 1200 1400LT(mm)LB(mm)LT(mm)300kg400kg500kg600kg32/88