Allowable load for wrist axis and wrist flange
7 - 43
7.4 Allowable Wrist Load
The permissible wrist loads amounts to a maximum of 50 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: Permissible torque and permissible 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
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 Permissible torque (Nm) Permissible moment of inertia (kgm²)
R-axis 216 Nm 28 kgm²
B-axis 216 Nm 28 kgm²
T-axis 147 Nm 11 kgm²
P point B-axis rotation center line
R-, T-axes rotation center line All dimensions in mm
LT (mm)
LB (mm)
200 400 600 800
1000 1200 1400 1600 1800
1200
1000
800
600
400
200
200
400
600
800
1000
1200
10 kg
20 kg
30 kg
40 kg
50 kg
2
2
1
1
3
2
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