Allowable load for wrist axis and wrist flange
7 - 44
7.2 Allowable Wrist Load
The allowable wrist loads amounts to a maximum of 180 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. 7-2: Hand loads
The peripheral devices are mounted on the upper arm of the U axis and the rotating head
of the S axis (see the following figure) to facilitate the installation of the system applications
of the user. The following conditions should be observed to attach or install peripheral
equipment.
Axis Allowable torque (Nm) Allowable moment of inertia (kgm²)
R-axis 1000 Nm 90 kgm² kg
B-axis 1000 Nm 90 kgm²
T-axis 618 Nm 46,3 kgm²
P point B-axis centre of rotation
R-axis/T-axis centre of rotation All dimensions in mm
1
3
2
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