Allowable Wrist Load - YASKAWA MH50II Operating And Maintenance Manual

7.4

Allowable Wrist Load

The permissible wrist loads amounts to a maximum of 50 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 Permissible torque (Nm)
R-axis 216 Nm
B-axis 216 Nm
T-axis 147 Nm
Tab. 7-1: Permissible torque and permissible moment of inertia
Keep the centroidal distance of the load/mass within the specifications; refer to the following
figure, "Hand loads."
1200
1000
1
1000
1200
LT (mm)
P point
1
R-, T-axes rotation center line
2
The peripheral devices are mounted on the upper arm of the U axis and the rotating head
of the S axis (see the following figure) to facilitate the installation of the system applications
of the user. The following conditions should be observed to attach or install peripheral
equipment.
10 kg
800
20 kg
600
30 kg
400 40 kg
50 kg
200
200
400
600
800
200 400 600 800 1000 1200 1400 1600 1800
2
Fig. 7-1: Moment of arm rating
Allowable load for wrist axis and wrist flange
Permissible moment of inertia (kgm²)
28 kgm²
28 kgm²
11 kgm²
LB (mm)
2
B-axis rotation center line
3
All dimensions in mm
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