Allowable load for wrist axis and wrist flange
7 - 38
7.4 Allowable Wrist Load
The permissible wrist loads amounts to a maximum of 5 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."
Keep the distance of the load/mass from the centre of gravity within the values specified;
please refer to Fig. 7-2: "Moment of arm rating".
Fig. 7-2: Moment of arm rating
Axis Permissible torque (Nm) Permissible moment of inertia (kgm²)
R-axis 12 Nm 0,30 kgm²
B-axis 12 Nm 0,30 kgm²
T-axis 7 Nm 0,10 kgm²
P point B-axis rotation center line
T-axis rotation center line All dimensions in mm
5kg
3kg
1. 5 kg
300
100
141
182
200
258
LT (mm)
LB (mm)
0
500
447
400
316
300
244
200
80
-
1
2
3
1
3
2
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