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Allowable load for wrist axis and wrist flange
7.4
The permissible wrist loads amounts to a maximum of 5 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.
Axis
R-axis
B-axis
T-axis
Keep the centroidal distance of the load/mass within the specifications; refer to the following
figure, "Hand loads."
Keep the distance of the load/mass from the centre of gravity within the values specified;
please refer to Fig. 7-2: "Moment of arm rating".
P point
1
T-axis rotation center line
2
-
7
38
Allowable Wrist Load
Permissible torque (Nm)
12 Nm
12 Nm
7 Nm
Tab. 7-1: Permissible torque and permissible moment of inertia
300
258
200
182
141
1
100
-
2
3
Fig. 7-2: Moment of arm rating
Permissible moment of inertia (kgm²)
0,30 kgm²
0,30 kgm²
0,10 kgm²
3kg
5 kg
0
200
300
244
80
B-axis rotation center line
3
All dimensions in mm
1.5kg
400
500
316
447
LB (mm)
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