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2-1
CHAPTER 2 Functions
1 Robot Manipulator
The YK-X series robots are available in 4-axis models having an X/Y-axis arm
(equivalent to human arm) and a Z/R-axis (equivalent to human wrist).
With these 4 axes, the YK-X series robots can move as shown in Fig. 2-1. By
attaching different types of end effector (gripper) to the end of the arm, a wide
range of tasks can be performed with high precision at high speeds.
The (+) and (-) signs show the direction of axis movement when the jog keys on
the programming unit are pressed (standard setting at the factory). Fig. 2-2 to Fig.
2-4 on the subsequent pages show part names and functions of each robot model.
Y-axis arm
Y-axis
(–)
X-axis arm
(+)
Z-axis
X-axis
(–)
(–)
(+)
(+)
R-axis
(–)
(+)
Fig. 2-1 Manipulator movement