Allowable Wrist Load; Maximum Capacity Load - YASKAWA MA1440 Operating And Maintenance Manual

Allowable load for wrist axis and wrist flange
7.4
The allowable wrist loads amounts to a maximum of 6 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-, T-axes rotation center line
2
7.5
The maximum permissible load for U-axis, including wrist, is 15 kg.
For example, if the load mounted on the joint is 6 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
or less.
The maximum load for S-axis is 20 kg. Install the peripheral devices on the S-axis in such
a way that the moment of inertia (GD
1.25 kgm² kg.
-
7 44

Allowable Wrist Load

Allowable torque (Nm)
10.5 Nm
10.5 Nm
3.2 Nm
Tab. 7-1: Allowable torque and allowable moment of inertia
200
100
1
3
Fig. 7-1: Moment of arm rating

Maximum capacity load

Allowable moment of inertia (kgm²)
0.28 kgm²
0.28 kgm²
0.06 kgm²
(179,54)
W=6Kg
100 200
2
100
B-axis rotation center line
3
All dimensions in mm
2
/4) from the S-axis rotation center is 1.25 kgm² kg
2
/ ) of the rotation centre of the S-axis does not exceed
4
(357,109)
W=3Kg
300 400
LB [mm]