6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
173124-1CD
HW1482991
MPL300
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
160 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 MPL300 II”
When the inertia of the volume load on the flange (Ji) is large, use the
following formula to calculate the eccentricity L
T
.
Fig. 6-1: Moment Arm Rating for MPL300
II
Table 6-1: Allowable Total Inertia
T- Axis Total Moment of Inertia (GD
2
/4)
kg•m
2
140 kg•m
2
J=Ji+WL
2
T
J
Ji
W
LT
: Total inertia (GD
2
/4) of the T-axis (kgžm
2
)
: Inertia of the volume load on the flange (kgžm
2
)
: Payload (kg)
: Eccentricity (mm)
Formula:
Center of T-axis flange rotation
LB
LT
W=300 kg
W=250 kg
W=200 kg
900 800 700 600 500 400 300 200 100
100 200 300 400 500 600 700 800 900
100
200
300
400
500
600
700
800
900
1000
1100
LB (mm)
LT (mm)
52 of 100
