7-1
155556-1CD
HW0484963
VA1400
7 System Application
7.1 Peripheral Equipment Mounts
7
System Application
7.1
Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in
Fig. 7-1 “Installing Peripheral
for easier installation of the users’ system applications. The
following conditions shall be observed to attach or install peripheral
equipment.
7.1.1 Allowable
Load
The maximum allowable load on the U-axis is 12 kg, including the wrist
load. For instance, when the mass installed on the wrist point is 3 kg, the
mass which can be installed on the upper arm is 9 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD
2
/4) from the
S-axis rotation center is 1.25 kg•m
2
or less.
7.1.2 Installation
Position
There is a limitation on where to install the peripheral equipment as shown
in
Fig. 7-1 “Installing Peripheral Equipment”
on the following page.
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