Omron R6YXG500, Installation Manual

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2
Installa
tion
2-52
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 workpiece 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 acceleration on
the end effector attachment of each robot model is listed in the table below. When the workpiece position is offset to
the end effector attachment, the accelerations Amax and AXYmax become larger by an amount equal to the offset
versus the arm length. When the R-axis rotates during operation, this acceleration ARmax must be taken into account.
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.
Maximum acceleration during robot operation
Robot Model Amax(m/sec
2
) AXYmax(m/sec
2
) AZmax(m/sec
2
) ARmax(rad/sec
2
)
R6YXGL250 88 47 23 110
R6YXGL350, R6YXGS300 108 35 23 110
R6YXGL400, R6YXGS400 98 24 23 110
R6YXGL500 62 22 23 110
R6YXGL600 54 16 23 110
R6YXG500, R6YXGS500 98 48 57 280
R6YXG600, R6YXGS600 104 41 57 280
R6YXGH600 78 60 38 176
R6YXG700, R6YXGS700 96 60 38 176
R6YXG800, R6YXGS800 101 51 38 176
R6YXG900, R6YXGS900 95 51 38 176
R6YXG1000, R6YXGS1000 95 51 38 176
Maximum acceleration on end effector attachment
A
R
max
Azmax
Amax
A
XY
max
(centrifugal acceleration)
(Tangential acceleration)