6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
155492-1CD
HW0484820
SDA20
6
Allowable Load for Wrist Axis and Wrist Flange
6.1
Allowable Wrist Load
The allowable wrist load is 20 kg; however, consider the limitations shown in
"Allowable Moment and Total Inertia of the Wrist Axis"
to fulfill this condition.
If force is applied to the wrist instead of the load, the forces on R-, B-, and T-Axes should be
within the values shown in
.
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia moment, or load moment is small while inertia
moment is large. Also contact your Yaskawa representative in advance in a case where the
load mass is combined with an external force.
Fig. 6-1: Moment Arm Rating
Table 6-1: Allowable Moment and Total Inertia of the Wrist Axis
Axis
Moment Nm (kgf
·
m)
*1
GD
2
/4 Inertia kg
·
m
2
R-axis
B-axis
T-axis
58.8 (6.0)
58.8 (6.0)
29.4 (3.0)
4.0
4.0
2.0
LB
LT
16kg
20kg
10kg
5kg
800
600
400
200
1000
200
800
400
600
LB(mm)
LT(mm)
P-point
T-, R-axis
rotation center
Center of
gravity
B-axis rotation center
P-point
180
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