6.1 Allowable Wrist Load
6-1
HW0482170
HW0482170
6
Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 3kg. 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. 5 Allowable Moment and 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. 12 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. 12 Moment Arm Rating
Table. 5 Allowable Moment and Inertia
Axis
Moment N•m (kgf•m)
*1
Inertia kg•m
2
R-axis
B-axis
T-axis
8.8 (0.9)
8.8 (0.9)
2.9 (0.3)
0.27
0.27
0.03
400
L
T
(mm)
W
=
3Kg
200
100
300
200
100
0
L
T
L
B
200
L
B
(mm)
R-,
T-axes
rotation
center
line
B-axis
rotaion
center
line
Load
gravity
position
