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Allowable load for wrist axis and wrist flange
7.2
The allowable wrist loads amounts to a maximum of 24 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."
P-point
1
R-, T-axes rotation center line
2
Allowable Wrist Load
Allowable torque (Nm)
50 Nm
50 Nm
30.4 Nm
Tab. 7-1: Allowable torque and allowable moment of inertia
500
428
400
309
300
200
193
W=16kg
154
W=20kg
129
W=24kg
100
Fig. 7-1: Moment of arm rating
Allowable moment of inertia (kgm²)
2.1 kgm² kg
2,1 kgm²
1,1 kgm²
LB
100
W=6kg
W=10kg
213 255
319
100
200
300
400
LB[mm]
B-axes rotation center line
3
All dimensions in mm
458
592
500
600
-
7
43
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