Allowable load for wrist axis and wrist flange
7 - 44
7.4 Allowable Wrist Load
The allowable wrist loads amounts to a maximum of 6 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."
Fig. 7-1: Moment of arm rating
7.5 Maximum capacity load
The maximum permissible load for U-axis, including wrist, is 15 kg.
For example, if the load mounted on the joint is 6 kg, the load on the upper arm must not
exceed 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 kgm² kg
or less.
The maximum load for S-axis is 20 kg. Install the peripheral devices on the S-axis in such
a way that the moment of inertia (GD
2
/
4
) of the rotation centre of the S-axis does not exceed
1.25 kgm² kg.
Axis Allowable torque (Nm) Allowable moment of inertia (kgm²)
R-axis 10.5 Nm 0.28 kgm²
B-axis 10.5 Nm 0.28 kgm²
T-axis 3.2 Nm 0.06 kgm²
P point B-axis rotation center line
R-, T-axes rotation center line All dimensions in mm
100
200
300
400
100
200
W=6Kg
W=3Kg
(357,109)
(179,54)
LT
LB [mm]
LT [mm]
100
1
3
2
1
3
2
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