Allowable load for wrist axis and wrist flange
7 - 43
7.2 Allowable Wrist Load
The allowable wrist loads amounts to a maximum of 24 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
Axis Allowable torque (Nm) Allowable moment of inertia (kgm²)
R-axis 50 Nm 2.1 kgm² kg
B-axis 50 Nm 2,1 kgm²
T-axis 30.4 Nm 1,1 kgm²
P-point B-axes rotation center line
R-, T-axes rotation center line All dimensions in mm
LT[mm]
100
200
300
400
500
129
154
193
309
428
LB[mm]
100 200 300 400 600500
213 255 319 458 592
W=24kg
W=20kg
W=16kg
W=10kg
W=6kg
LT
LB
100
1
3
2
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