Allowable Wrist Load - YASKAWA YR-1-06VX50-A00 Operating And Maintenance Manual

Allowable load for wrist axis and wrist flange
7.4
The allowable wrist loads amounts to a maximum of Wrist: 50 kg / U-arm 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 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."
When the volume of the load is relatively small, refer to the moment arm rating (L
shown in figure "Moment Arm Rating". Each value of the allowable inertia above is
calculated assuming that the moment load is at the maximum. Thus, in the case when only
the inertia load is applied, when the moment load is small while the inertia load is large or
when the load is not applied as mass but applied as force, etc.,contact your YASKAWA
representative in advance.
When a tool is installed, the tool information and the load information must be set. For the
setting, refer to chapter "Tool data setting" and chapter "ARM control" of YRC1000
INSTRUCTIONS (Document No.: E1102000214XX01* and higher).

Allowable Wrist Load

Allowable torque (Nm)
216 Nm
216 Nm
147 Nm
Tab. 7-1: Allowable torque and allowable moment of inertia
Allowable moment of inertia (kgm²)
28 kgm²
28 kgm²
11 kgm²
, L )
B T
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