Allowable Load For Wrist Axis And Wrist Flange; Allowable Wrist Load - YASKAWA Motoman NX100 Manual

HW0481994
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1

Allowable Wrist Load

The allowable wrist load including the weight of the mount/gripper is:
• YR-ES165N-A10, -A11: 100kg maximum
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. 6 Allowable Total Moment and Total Inertia ". Contact your
Yaskawa representative for further information or assistance.
Model
YR-ES165N-100
*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, or load moment is small and inertia is large. Also,
when the load mass is combined with an outside force, contact your Yaskawa representative.
L (mm)
T
800
600
400
P-point
200
200
400
600
800
L (mm)
T
Table. 6 Allowable Total Moment and Total Inertia
Axis
R-Axis
B-Axis
T-Axis
40kg
60kg
80kg
100kg
800
400 600
B-axis center of ratation
Fig. 14 Moment Arm Rating
6-1
6.1 Allowable Wrist Load
Moment N•m
2
GD /4 Inertia kg•m
*1
(kgf•m)
833 (85)
833 (85)
490 (50)
L (mm)
1000 1200 1300
B
2
75
75
25
T- and R-axes
center of rotation
37/76