Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA Motoman UP6 Instructions Manual

6 Allowable Load for Wrist Axis and Wrist
Flange
6.1

Allowable Wrist Load

The allowable wrist load is 6kg. 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. 4 Moment and Total Inertia ".
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. 14 Moment
Arm Rating ".
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 and inertia
moment is large. Also, when the load mass is combined with an outside force, contact your
Yaskawa representative.
Table. 4 Moment and Total Inertia
*1
Moment N•m (kgf•m)
11.8 (1.2)
9.8 (1.0)
5.9 (0.6)
Load Gravity
Position
B-Axis Rotaion
Center Line
Fig. 14 Moment Arm Rating
6-1
6.1 Allowable Wrist Load
2
GD /4 Total Inertia kg•m
0.24
0.17
0.06
2