2
Installa
tion
2-49
6.4
Attaching the end effector
It is necessary to prepare the user's end effector attaching part to the robot that has adequate strength and rigidity, as
well as gripping force to prevent positioning errors.
WARNING
• bEFoRE ATTACHInG THE End EFFECToR, bE SURE To TURn oFF THE ConTRoLLER.
• WHEn THE End EFFECToR IS ATTACHEd USInG THE SLoT CLAmpInG, ALWAYS obSERvE THE CondITIonS
LISTEd In THE TAbLE, "mAXImUm LoAd AppLIEd To End EFFECToR ATTACHmEnT". 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 EvEn WHEn THE LoAdS LISTEd In THE TAbLE, "mAXImUm LoAd AppLIEd To End EFFECToR
ATTACHmEnT" ARE AppLIEd.
NOTE
When checking end effector operation, refer to the section "4.5.1 Trial Operation" in Chapter “Safety Instructions” of this manual.
The following shows the maximum load that can be applied to the end effector attachment of each robot model.
WARNING
• THE End EFFECToR ATTACHmEnT mUST HAvE AdEqUATE STREnGTH To WITHSTAnd THE LoAdS LISTEd In
THE TAbLE bELoW. IF THE STREnGTH IS InSUFFICIEnT, THE ATTACHmEnT mAY bREAK dURInG RoboT
opERATIon And FRAGmEnTS FLY oFF, CAUSInG ACCIdEnTS oR InJURIES.
• THE End EFFECToR ATTACHmEnT mUST HAvE SUFFICIEnT RIGIdITY To THE LoAdS LISTEd In THE TAbLE
bELoW. IF THIS RIGIdITY IS InAdEqUATE, THE End EFFECToR mAY vIbRATE dURInG RoboT opERATIon,
CAUSInG AdvERSE EFFECTS on THE WoRK.
Maximum load applied to end effector attachment
Robot Model
FXYmax
FZmax
FRmax
MRmax
Mmax
N
kgf
N
kgf
N
kgf
Nm
kgfm
Nm
kgfm
R6YXGL250
125
13
108
11
382
39
18
1.8
29
3.0
R6YXGL350, R6YXGS300
88
9
108
11
294
30
18
1.8
25
2.6
R6YXGL400, R6YXGS400
75
8
108
11
265
27
18
1.8
23
2.4
R6YXGL500
68
6.9
108
11
117
18
18
1.8
19
1.9
R6YXGL600
60
6.1
108
11
147
15
18
1.8
9
1.0
R6YXG500, R6YXGS500
173
18
134
14
506
52
24
2.6
15
1.5
R6YXG600, R6YXGS600
173
18
134
14
506
52
24
2.6
15
1.5
R6YXGH600
489
49
214
22
696
71
56
5.7
26
2.7
R6YXG700, R6YXGS700
489
49
214
22
696
71
56
5.7
26
2.7
R6YXG800, R6YXGS800
489
49
191
19
696
71
56
5.7
24
2.4
R6YXG900, R6YXGS900
443
46
191
19
696
71
56
5.7
24
2.4
R6YXG1000, R6YXGS1000
443
46
191
19
696
71
56
5.7
24
2.4
Maximum load applied to end effector attachment
F
R
max
End effector
Stay
FxYmax
Fzmax
M
R
max
Mmax
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...