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8
Specifica
tions
8-22
Z
X
Y
→
Y+
↓↓
X+
θ
x (
CC
W
is t
he
plu
s di
rect
ion.
)
θ
y (
CC
W
is
the
plu
s dir
ection.
)
R6YXGL500
Projection of the machine harness toward the base rear side
• The positions shown below are reference data. So, if there is an
interference object on the base rear side, be sure to keep a
sufficient space.
• The harness projection amount Y and position Z at the
symmetrical position of the arm to the Y-axis plus axis are the
same values as those stated in the tables below. The X value at the
symmetrical position of the arm to the Y-axis plus axis is the
value stated in the table below, the sign of which is inverted.
Harness projection amount Y to the base rear side and positions X
and Z with respect to the arm positions
θ
x and
θ
y
X(mm)
θ
X
(°)
0
-30
-60
-90
-120
-140
θ
Y
(°)
-144
0
0
0
0
0
0
-120
0
0
0
0
0
0
-90
0
0
0
0
0
0
-60
0
0
0
0
0
0
-30
0
0
0
0
0
0
0
0
0
0
0
0
0
30
0
0
0
0
-10
-10
60
0
0
20
20
0
0
90
0
0
30
50
10
0
120
0
0
70
100
50
0
144
0
0
110
130
70
50
Y(mm)
θ
X
(°)
0
-30
-60
-90
-120
-140
θ
Y
(°)
-144
129
129
129
129
129
129
-120
129
129
129
129
129
129
-90
129
129
129
129
129
129
-60
129
129
129
129
129
129
-30
129
129
129
129
129
129
0
129
129
129
129
129
129
30
129
129
129
135
135
145
60
129
129
129
145
155
185
90
129
129
135
165
185
225
120
129
129
140
185
245
255
144
129
129
145
205
265
315
Z(mm)
θ
X
(°)
0
-30
-60
-90
-120
-140
θ
Y
(°)
-144
200
200
200
200
200
200
-120
200
200
200
200
200
200
-90
200
200
200
200
200
200
-60
200
200
200
200
200
200
-30
200
200
200
200
200
200
0
200
200
200
200
200
200
30
200
200
200
200
200
200
60
200
200
370
400
520
600
90
200
200
380
500
550
600
120
200
200
400
510
550
590
144
200
200
440
510
550
580
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...