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7
Tor
que
limit
d
esi
gn
ate
d
Z-a
xis
p
ush
ing
a
cti
on
7-1
1.
Torque limit designated Z-axis pushing action
Z-axis pushing action (downward direction) can be executed from program by using the dRIvE statement's torque limit
setting.
The table below shows various tip load weights and the corresponding recommended torque limit (%) and torque offset
(gravity offset for tip load weight) values relative to the motor's rated torque, and the speed limits (%). be sure to
operate the robot within these limit values.
Failing to observe these limits could shorten the life of the Z-axis drive area and the arm joints.
The pushing force shown in the table is the servo thrust, and it must be added to the load weight in order to obtain the
actual pushing force. For example, if the load is 5kg, the added value would be 5 × 9.8 = 49N.
For programming specifics, refer to the separate "YRCX series programming manual" or "YRC series programming
manual".
R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit Value (%)
R6YXGL250
R6YXGL350
R6YXGL400
R6YXGL500
R6YXGL600
4kg
55% to 100%
45 to 81
-26
50
40
33
3kg
50% to 100%
41 to 81
-20
50
40
33
2kg
40% to 100%
32 to 81
-14
50
40
33
1kg
30% to 100%
24 to 81
-10
50
40
33
0kg
40% to 100%
36 to 81
-8
50
40
33
* Because a tip load weight of 5kg or greater could cause unstable control during a pushing action, do not perform pushing actions under such
conditions.
R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 Z200mm stroke specifications
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit
Value (%)
10kg
60% to 100%
120 to 200
-19
15
9kg
50% to 100%
100 to 200
-17
15
8kg
50% to 100%
100 to 200
-15
14
7kg
40% to 100%
80 to 200
-14
14
6kg
40% to 100%
80 to 200
-12
13
5kg
30% to 100%
60 to 200
-10
12
4kg
30% to 100%
60 to 200
-8
12
3kg
30% to 100%
60 to 200
-8
11
2kg
30% to 100%
60 to 200
-8
10
1kg
30% to 100%
60 to 200
-8
9
0kg
30% to 100%
60 to 200
-8
9
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...