6-1
155556-1CD
HW0484963
VA1400
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6
Allowable Load for Wrist Axis and Wrist Flange
6.1
Allowable Wrist Load
The allowable wrist load is 3 kg 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 6-1 "Allowable Wrist Load"
. Contact your YASKAWA
representative for further information or assistance.
When the volume load is small, refer to the moment arm rating shown in
.
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your YASKAWA representative beforehand when
only moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your YASKAWA representative beforehand.
Fig. 6-1: Moment Arm Rating
Table 6-1: Allowable Wrist Load
Axis
Moment N
•
m (kgf
•
m)
1)
1 ( ): Gravitational unit
GD
2
/4 Total Moment of Inertia
kg•m
2
R-Axis
8.8 (0.9)
0.27
B-Axis
8.8 (0.9)
0.27
T-Axis
2.9 (0.3)
0.03
400
L
T
(mm)
W=3 Kg
200
100
300
200
100
0
L
B
(mm)
L
T
L
B
200
R-, T-axis
rotation center
B-axis rotation center
Load gravity position
35 of 85
