Allowable Wrist Load - YASKAWA MOTOMAN-HP20 Instructions Manual

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 20 kg. 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. 5 Allowable Moment and Iner-
tia." Contact your Yaskawa representative for further information or assistance.
Axis
R-axis
B-axis
T-axis
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 12 Moment
Arm Rating."
The allowable inertia is calculated when the moment is at the maximum. Contact your Yas-
kawa representative when only load inertia, or load moment is small and inertia is large. Also,
when the load is combined as a force but a mass, contact your Yaskawa representative.
B-axis rotation center line
Table. 5 Allowable Moment and Inertia
Moment N•m (kgf•m)
39.2 (4)
39.2 (4)
19.6 (2)
Load gravity
L
B
position
105
T-axis, R-axis
rotation center line
Fig. 12 Moment Arm Rating
6-1
*1
Inertia kg•m
300
200
W=16Kg
100
W=20Kg
0 100
2
0.9
0.9
0.25
W=6Kg
W=10Kg
200 300 400
L mm
B