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CHAPTER 3 Installation
WARNING
The end effector attachment must have adequate strength to withstand the
loads listed in Table 3-1. If too weak, the attachment may break during robot
operation and fragments fly off causing accidents or injuries.
WARNING
The end effector attachment must have sufficient rigidity versus the loads listed
in Table 3-1. If this rigidity is inadequate, the end effector may vibrate during
robot operation causing bad effects on the manipulator operation.
WARNING
•When the end effector is attached by slot clamping, always observe the con-
ditions listed in Table 3-2. If these are ignored, the end effector may come
loose and fly off during robot operation, resulting in an accident or injury.
• In cases where other attachment methods are used, be sure that the end
effector will not come off when the loads listed in Table 3-1 are applied.
!
CAUTION
The YK120X series (YK120X, YK150X) and YK180X series (YK180X, YK220X)
is designed to be compact, so the joints could be damaged if excessive force is
applied, for example, during installation of an end effector.
Make sure that excessive force is not applied to the joints.
Axis
YK120X, YK150X
X-axis
Y-axis
R-axis
Tolerable radial load
100N (10.2kgf)
45N (4.6kgf)
45N (4.6kgf)
Tolerable thrust load
100N (10.2kgf)
45N (4.6kgf)
45N (4.6kgf)
Tol erable moment load
Tolerable torque
1.5Nm (15.3kgfcm)
0.45Nm (4.6kgfcm)
0.45Nm (4.6kgfcm)
1.7Nm (17.3kgfcm)
0.5Nm (5.1kgfcm)
0.3Nm (3.1kgfcm)
Axis
YK180X, YK220X
X-axis
Y-axis
R-axis
Tolerable radial load
275N (28.1kgf)
150N (15.3kgf)
150N (15.3kgf)
Tolerable thrust load
900N (91.8kgf)
600N (61.2kgf)
600N (61.2kgf)
Tolerable moment load
Tolerable torque
6.0Nm (61.2kgfcm)
3.3Nm (33.7kgfcm)
3.3Nm (33.7kgfcm)
9.0Nm (91.8kgfcm)
4.0Nm (40.8kgfcm)
2.2Nm (22.4kgfcm)