Hyundai YL005, Руководство по обслуживанию, Страница: 29 / 95

Maintenance manual for Collaborative Robot
Hyundai Robotics Product installation | Environment of installation and preparation_
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3.1.3 Allowable limit of wrist axis load
The load to be applied to the tip of the wrist axis of a collaborative robot is regulated by the allowable weight,
allowable load torque, and allowable moment of inertia. The allowable limits of wrist axis load of the models are as
follows:
Division YL005 YL012 YL015
Weight 49 N (5 kgf) maximum 117.6 N (12 kgf) maximum 147 N (15 kgf) maximum
Load
torque
R2-axis
rotation
Rating: 48 Nm (4.9 kgf·m) Rating: 49 Nm (5.0 kgf·m) Rating: 49 Nm (5.0 kgf·m)
B-axis
rotation
Rating: 26.5 Nm (2.7 kgf·m) Rating: 54.9 Nm (5.6 kgf·m) Rating: 54.9 Nm (5.6 kgf·m)
R1-axis
rotation
Rating: 27.4 Nm (2.8 kgf·m) Rating: 27.4 Nm (2.8 kgf·m) Rating: 27.4 Nm (2.8 kgf·m)
3.1.4 Payload
The maximum payloads of collaborative robots vary depending on distances to the center of gravity. The maximum
payloads of the models are as follows:

YL005