3-37
CHAPTER 3 Installation
6-5
Gripping force of end effector
The gripping force of the end effector must have a sufficient extra margin of
strength versus the workpiece weight and reaction force applied to the work-
piece during robot operation.
The reaction force applied to the workpiece during operation can be calculated
from the acceleration applied to the end effector attachment. The maximum ac-
celeration on the end effector attachment of each robot model is listed in the ta-
ble below. When the workpiece position is offset to the end effector attachment,
the accelerations Amax and A
XY
max become larger by an amount equal to the
offset versus the arm length. When the R-axis rotates during operation, this ac-
celeration A
R
max must be taken into account.
Table 3-3 Maximum acceleration during robot operation
Robot Model
R6YXH250
R6YXH350
R6YXH400
R6YXX1200
Amax(m/sec
2
)
A
XY
max(m/sec
2
)
Azmax(m/sec
2
) A
R
max(rad/sec
2
)
62
45
23
140
71
48
23
120
91
46
23
120
45
40
39
8
A
R
max
Azmax
Amax
A
XY
max
Fig. 3-42 Maximum acceleration on end effector attachment
WARNING
THE GRIPPING FORCE OF THE END EFFECTOR MUST HAVE A
SUFFICIENT EXTRA MARGIN OF STRENGTH TO PREVENT THE
WORKPIECE FROM COMING LOOSE AND FLYING OFF DURING ROBOT
OPERATION.
IF THE GRIPPING FORCE IS TOO WEAK, THE WORKPIECE MAY COME
LOOSE AND FLY OFF CAUSING ACCIDENTS OR INJURIES.
Summary of Contents for R6Y Series
Page 2: ......
Page 12: ......
Page 30: ......
Page 32: ......
Page 38: ......
Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Page 108: ......
Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Page 160: ......
Page 162: ......
Page 202: ......
Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Page 204: ......
Page 210: ......
Page 212: ......
Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...