Maximum Capacity Load - YASKAWA MH24 Operating And Maintenance Manual

Allowable load for wrist axis and wrist flange
The permissible moment of inertia is calculated when the permissible torque reaches the
maximum value. The permissible moment of inertia for the T-axis varies and depends on
the permissible torque.
Contact your YASKAWA branch office in a timely manner if you have questions regarding
the calculation of the load or centroidal distance.
Example:
In the case of the YASKAWA HP20D robot, for example, the permissible moment of inertial
for the T-axis amounts to 0.25 kgm² at a permissible torque of 19.6 Nm and to 0.75 kgm² at
a permissible torque of 0.1 Nm.
7.3

Maximum capacity load

The maximum permissible load for U-axis, including wrist, is 36 kg.
For example, if the load mounted on the joint is 24 kg, the load on the upper arm must not
exceed 12 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral equipment on the
2
S-axis so that the moment of inertia (GD /4) from the S-axis rotation center is 1.25 kgm² kg
or less.
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