6.1 Allowable Wrist Load
6-1
HW0484074
HW0484074
6
Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 15 kg.
As shown in "Table 5 Allowable Total Moment of Wrist", the moment of each axis is restricted.
Observe the conditions described in this section in applying load on the wrist.
Note that a special consideration is also required if force is applied to the wrist instead of the
load. The force shall not exceed the values shown in the "Table 5 Allowable Total Moment of
Wrist".
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 11 Moment Arm
Rating".
The allowable inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only load inertia, or load moment is small and inertia is large.
Also, when the load is combined as a force but a mass, contact your Yaskawa representative.
Fig. 11 Moment Arm Rating
Table 5 Allowable Total Moment of Wrist
Axis
Moment N
·
m (kgf
·
m)
*1
Inertia kg
·
m
2
R-axis
B-axis
T-axis
38.6 (3.9)
38.6 (3.9)
7.35 (0.75)
1.04
1.04
0.04
LT
LB
W= 15 kg
100
50
300
260
200
100
0
184.5
LT (mm)
LB (mm)
Center of gravity
B-axis center of rotation
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