Allowable load for wrist axis and wrist flange
7 - 41
7.4 Allowable Wrist Load
The allowable wrist loads amounts to a maximum of Wrist: 12 kg / U arm 9 kg. Should
however force instead of load be exercised on the wrist axis, the power has to be at the
axes within the moments (see the following figure and table).
For further information or help, please contact your YASKAWA branch office.
Tab. 7-1: Allowable torque and allowable moment of inertia
Keep the centroidal distance of the load/mass within the specifications; refer to the following
figure, "Hand loads."
When the volume of the load is relatively small, refer to the moment arm rating (L
B
, L
T
)
shown in figure “Moment Arm Rating”. Each value of the allowable inertia above is
calculated assuming that the moment load is at the maximum. Thus, in the case when only
the inertia load is applied, when the moment load is small while the inertia load is large or
when the load is not applied as mass but applied as force, etc.,contact your YASKAWA
representative in advance.
When a tool is installed, the tool information and the load information must be set. For the
setting, refer to chapter “Tool data setting” and chapter “ARM control” of YRC1000
INSTRUCTIONS (Document No.: E1102000214XX01* and higher).
Axis Allowable torque (Nm) Allowable moment of inertia (kgm²)
R-axis 22 Nm 0.65 kgm² kg
B-axis 22 Nm 0.65 kgm²
T-axis 9.8 Nm 0.17 kgm²
Hand loads
Load gravity position
R-, T-axis rotation centre
B-axes rotation centre line
All dimensions in mm
1
100
200
300
400
100
200
W=6 Kg
465
329187
83
167
238
300
500
W=12 Kg
W=3 Kg
LB [mm]
LT [mm]
2
3
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