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8
Specifica
tions
8-26
θ
x (
CC
W
is t
he
plu
s di
rect
ion.
)
θ
y (C
CW
is th
e plus
direction.)
R6YXGL600
Projection of the machine harness toward the base rear side
Z
X
Y
→
Y+
↓↓
X+
• 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
0
0
60
0
0
0
0
-120
-70
90
0
0
-30
-100
-130
-100
120
0
0
-50
-130
-130
-150
144
0
0
-70
-100
-150
-150
Y(mm)
θ
X
(°)
0
-30
-60
-90
-120
-140
θ
Y
(°)
-144
130
130
130
130
130
130
-120
130
130
130
130
130
130
-90
130
130
130
130
130
130
-60
130
130
130
130
130
130
-30
130
130
130
130
130
130
0
130
130
130
130
130
130
30
130
130
130
130
130
130
60
130
130
130
130
205
255
90
130
130
130
175
275
285
120
130
130
135
195
305
315
144
130
130
145
215
335
355
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
270
270
30
200
200
270
270
270
270
60
200
200
270
390
620
650
90
200
200
370
530
610
650
120
200
200
420
560
600
630
144
200
200
450
540
580
620
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...