Allowable load for wrist axis and wrist flange
7 - 42
The permissible moment of inertia is calculated when the permissible torque reaches the
maximum value. The permissible moment of inertia for the T-axis varies and depends on
the permissible torque.
Contact your YASKAWA branch office in a timely manner if you have questions regarding
the calculation of the load or centroidal distance.
Example:
In the case of the YASKAWA HP20D robot, for example, the permissible moment of inertial
for the T-axis amounts to 0.25 kgm² at a permissible torque of 19.6 Nm and to 0.75 kgm² at
a permissible torque of 0.1 Nm.
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