Allowable Wrist Load - YASKAWA MH180 Operating And Maintenance Manual

Allowable load for wrist axis and wrist flange
7.2
The allowable wrist loads amounts to a maximum of 180 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
R-axis
B-axis
T-axis
Keep the centroidal distance of the load/mass within the specifications; refer to the following
figure, "Hand loads."
P point
1
R-axis/T-axis centre of rotation
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.
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7 44

Allowable Wrist Load

Allowable torque (Nm)
1000 Nm
1000 Nm
618 Nm
Tab. 7-1: Allowable torque and allowable moment of inertia
Allowable moment of inertia (kgm²)
90 kgm² kg
90 kgm²
46,3 kgm²
Fig. 7-2: Hand loads
B-axis centre of rotation
3
All dimensions in mm