YASKAWA Motoman HP165-100 - Allowable Load for Wrist Axis and Wrist Flange; Allowable Wrist Load

6.1 Allowable Wrist Load
6-1
HW0481994
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1 Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper is:
• YR-ES165N-A10, -A11: 100kg maximum
If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within
the value shown in " Table. 6 Allowable Total Moment and Total Inertia ". Contact your
Yaskawa representative for further information or assistance.
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia, or load moment is small and inertia is large. Also,
when the load mass is combined with an outside force, contact your Yaskawa representative.
Fig. 14 Moment Arm Rating
Table. 6 Allowable Total Moment and Total Inertia
Model Axis
Moment N•m
(kgf•m)
*1
GD
2
/4 Inertia kg•m
2
YR-ES165N-100
R-Axis
B-Axis
T-Axis
833 (85)
833 (85)
490 (50)
75
75
25
13001200
800
1000
80kg
100kg
60kg
40kg
600
800
400
200
400
200
400
600
800
600
B-axis center of ratation
T- and R-axes
center of rotation
L (mm)
P-point
T
L (mm)
T
L (mm)
B
37/76