Allowable Wrist Load; Maximum Capacity Load - YASKAWA MA2010 Operating And Maintenance Instructions Manual

Allowable load for wrist axis and wrist flange
7.4
The maximum allowable wrist load is 10 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 assistance, please contact your YASKAWA branch.
Axis
R-axis
B-axis
T-axis
Keep the distance of the load/mass from the centre of gravity within the values specified,
see the following figure "Moment of arm rating".
P point
1
R-, T-axes rotation center line
2
7.5
The maximum permissible load for U-axis, including wrist, is 19 kg.
For example, if the load mounted on the joint is 10 kg, the load on the upper arm must not
exceed 9 kg.
The maximum load for S-axis is 20 kg. Install the peripheral devices on the S-axis in such
a way that the moment of inertia (GD
1.25 kgm² kg.
-
7 38

Allowable Wrist Load

Allowed moment and maximum moment of inertia
Allowed moment (Nm)
22 Nm
22 Nm
9.8 Nm
LB
100
2
3
Fig. 7-2: Moment of arm rating

Maximum capacity load

Permissible moment of inertia (kgm²)
0.65 kgm²
0.65 kgm²
0.17 kgm²
300
1
238
W=3kg
200
166
W=6kg
100
W=10kg
B-axis rotation center line
3
All dimensions in mm
2
/ ) of the rotation centre of the S-axis does not exceed
4
220 329
100 200 300 400
LB[mm]
465
500