Maximum Capacity Load - YASKAWA YYR-1-06VXH25-A10 Operating And Maintenance Manual

Allowable load for wrist axis and wrist flange
7.5
NOTICE
Failure to observe this instruction may adversely affect the safety and/or
performance of the robot.
YASKAWA provides no guarantee against damages, malfunctions, failures, etc. caused by
using any means other than the tapped holes shown in the following figure. The tightening
bolts used for the mechanical parts of the manipulator must be used only to secure the
mechanical parts. Do not additionally secure or attach any other things by using these
tightening bolts.
 Do not make any additional holes or tapped holes on the robots body.
When a load is applied on the upper arm or the rotary head, the load setting must be
performed. For setting procedures, refer to INSTRUCTIONS manual chapter "ARM
Control" (Document-No.: E1102000214XX01* and higher).
The maximum permissible load for U-axis, including wrist, is 21 kg.
For example, if the load mounted on the joint is 12 kg, the load on the upper arm must not
exceed 9 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral equipment on the
S-axis so that the moment of inertia (GD
less.
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7 42

Maximum capacity load

2
/4) from the S-axis rotation center is 1.25 kgm² or