Axis FD-R M12 Spezifikationen PDF herunterladen (Seite 9)

2.1.3 Allowable Load on Wrist Axis

The payload of manipulator must not exceed max. payload capacity 4kg, including a welding torch, a chucking

tool in handling and a workpiece.

Mounting a standard welding torch does not cause any problems to the manipulator, but both the moment and the

moment of inertia must be within the allowance stated in the table below when the manipulator is used for

handling or any other similar purposes.

Also, when a load is imposed not in the form of mass but force, a wrist axis must not be used with these maximum

allowable values exceeded.

Table 2.1.2 Allowable Load on Wrist Axis

NB04L-02

Axis

Name

Allowable Moment Allowable Moment of Inertia

Axis J4 10.1 N*m

0.38

kg *m

Axis J5 10.1 N*m 0.38 kg *m2

Axis J6 2.94 N*m 0.03 kg *m2

220

Distance from Axis J6

Rotation Center

Distance from Axis J5

Rotation Center

(mm)

258

345

(mm)

W=4kg

W=3kg

300

400

Note: Though the center of gravity shown above fully satisfies the allowable load moment, the allowable moment

of inertia is not always satisfied.

Fig. 2.1.2 Allowable Load on Wrist Axis

Fig. 2.1.3 Wrist load conditions

2.1.4 Flange Dimensions of Wrist Axis

View A

φ57 H7

4.5

(equally spaced)

2xφ6 H7 6 Deep

4XM5 10 Deep

(equally spaced)

Fig. 2.1.4 Flange Dimensions of Wrist Axis (unit : mm)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 ... 21 22

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