6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
155976-1CD
HW0485249
ES165D
6
Allowable Load for Wrist Axis and Wrist Flange
6.1
Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper
is:
• YR-ES0165D-A00, -A01: 165kg 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
. 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.
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
921 (94)
85
B-Axis
921 (94)
85
T-Axis
490 (50)
45
42 of 92
