Used Robots.com: Motoman SK16 Reference Manual

Reference Manual SK16 Page: 5 Precautions for allowable wrist load MOTOMAN ROBOTICS
AB 3. Precautions for allowable wrist load 3.1 Allowable wrist load The maximum allowable wrist load for the MOTOMAN-SK16 including
brackets, tools and handling article. The following wrist load are
allowable. Following picture shows mounting limits (L_B and L _T) for the wrists unit,
with respective of the total inertia. Total inertia is valid at maximum
moment. For other circumstances, for example just moment or just
inertia other values can be allowed, contact Motoman Robotics AB.
. Axes Moment Nm Total intertia kg x m² YR-SK16-C000 R 31,4 Nm 0,7 kg x m² B 31,4 Nm 0,7 kg x m² T 15,7 Nm 0,2 kg x m² YR-SK16-C010 R 11,8 Nm 0,24 kg x m² B 9,8 Nm 0,17 kg x m² T 5,9 Nm 0,06 kg x m² Fig.2 Allowable inertia
for wrist unit (B-axis)
for YR-SK16-C000 T- and R-axis rotation
center line


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