Allowable load for wrist axis and wrist flange
7
- 38
7.4 Allowable Wrist Load
The maximum allowable wrist load is 10 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 assistance, please contact your YASKAWA branch.
Keep the distance of the load/mass from the centre of gravity within the values specified,
see the following figure "Moment of arm rating".
Fig. 7-2: Moment of arm rating
7.5 Maximum capacity load
The maximum permissible load for U-axis, including wrist, is 19 kg.
For example, if the load mounted on the joint is 10 kg, the load on the upper arm must not
exceed 9 kg.
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.
Allowed moment and maximum moment of inertia
Axis Allowed moment (Nm) Permissible moment of inertia (kgm²)
R-axis 22 Nm 0.65 kgm²
B-axis 22 Nm 0.65 kgm²
T-axis 9.8 Nm 0.17 kgm²
P point B-axis rotation center line
R-, T-axes rotation center line All dimensions in mm
LB[mm]
LT[mm]
100 200 300 400
100
500
200
300
166
238
W=10kg
W=6kg
W=3kg
220 329 465
LT
LB
100
1
3
2
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