Allowable load for wrist axis and wrist flange
7
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43
7.2
Allowable Wrist Load
The allowable wrist loads amounts to a maximum of 24 kg. Should however force instead
of load be exercised on the wrist axis, the power has to be at the axes within the moments
(see the following figure and table).
For further information or help, please contact your YASKAWA branch office.
Tab. 7-1: Allowable torque and allowable moment of inertia
Keep the centroidal distance of the load/mass within the specifications; refer to the following
figure, "Hand loads."
Fig. 7-1: Moment of arm rating
Axis
Allowable torque (Nm)
Allowable moment of inertia (kgm²)
R-axis
50 Nm
2.1 kgm² kg
B-axis
50 Nm
2,1 kgm²
T-axis
30.4 Nm
1,1 kgm²
P-point
B-axes rotation center line
R-, T-axes rotation center line
All dimensions in mm
L
T
[mm]
100
200
300
400
500
129
154
193
309
428
LB[mm]
100
200
300
400
600
500
213 255
319
458
592
W=24kg
W=20kg
W=16kg
W=10kg
W=6kg
LT
LB
100
1
3
2
