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CHAPTER 3
Installation
1 Robot Installation Conditions ...................................................................3-1
1-1 Installation environments...................................................................................... 3-1
1-2 Installation base ................................................................................................... 3-3
2Installation ...............................................................................................3-5
2-1 Unpacking ............................................................................................................ 3-5
2-2 Checking the product ........................................................................................... 3-6
2-3 Moving the robot................................................................................................... 3-7
2-4 Installing the robot ................................................................................................ 3-8
3 Protective Bonding ..................................................................................3-9
4 Robot Cable Connection ....................................................................... 3-11
5 User Wiring and User Tubing ................................................................3-13
6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16
7 Attaching The End Effector ....................................................................3-17
7-1 R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17
7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) ..................................... 3-19
7-1-2 Acceleration coefficient vs. moment of inertia (YK150X) ..................................... 3-21
7-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X) ......................3-23
7-2 Equation for moment of inertia calculation ......................................................... 3-24
7-3 Example of moment of inertia calculation........................................................... 3-27
7-4 Attaching the end effector .................................................................................. 3-29
7-5 Gripping force of end effector ............................................................................. 3-32
8Working Envelope and Mechanical Stopper Positions for Maximum
Working Envelope..................................................................................3-33