Omron R6YXG500, Installation Manual

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6. Attaching the end effector 2-35
6.1 R-axis tolerable moment of inertia and acceleration coefficient ……………………… 2-35
6.1.1 Acceleration coefficient vs. moment of inertia (R6YXGL250) …………………………………………2-36
6.1.2 Acceleration coefficient vs. moment of inertia (R6YXGL350, R6YXGS300) …………………………2-37
6.1.3 Acceleration coefficient vs. moment of inertia (R6YXGL400, R6YXGS400) …………………………2-38
6.1.4 Acceleration coefficient vs. moment of inertia (R6YXGL500) …………………………………………2-39
6.1.5 Acceleration coefficient vs. moment of inertia (R6YXGL600) …………………………………………2-40
6.1.6 Acceleration coefficient vs. moment of inertia
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) ………2-41
6.1.7 Acceleration coefficient vs. moment of inertia (R6YXG500, R6YXGS500) ……………………………2-41
6.1.8 Acceleration coefficient vs. moment of inertia (R6YXG600, R6YXGS600) ……………………………2-42
6.1.9 Acceleration coefficient vs. moment of inertia (R6YXGH600) …………………………………………2-42
6.1.10 Acceleration coefficient vs. moment of inertia (R6YXG700, R6YXG800, R6YXGS700, R6YXGS800) …2-43
6.1.11 Acceleration coefficient vs. moment of inertia (R6YXG900, R6YXG1000, R6YXGS900, R6YXGS1000) 2-43
6.2 Equation for moment of inertia calculation …………………………………………… 2-44
6.3 Example of moment of inertia calculation …………………………………………… 2-47
6.4 Attaching the end effector ……………………………………………………………… 2-49
6.5 Gripping force of end effector ………………………………………………………… 2-52
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers 2-53
7.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 2-53
7.1.1 Installing the X-axis/Y-axis additional mechanical stoppers ……………………………………………2-55
7.1.2 Robot overrun during impacts with X-axis or Y-axis mechanical stopper ………………………………2-57
7.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 ………… 2-58
7.2.1 Changing the X-axis mechanical stopper position ………………………………………………………2-62
7.2.2 Changing the Y-axis mechanical stopper position ………………………………………………………2-64
7.2.3 Robot overrun during impacts with X-axis or Y-axis mechanical stopper ………………………………2-67
8. Limiting the movement range with Z-axis mechanical stopper 2-68
8.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ………… 2-68
8.1.1 Installing the minus direction stopper ……………………………………………………………………2-69
8.1.2 Installing the plus direction stopper ……………………………………………………………………2-71
8.1.3 Overrun amounts during impacts with Z-axis additional mechanical stopper ………………………… 2-72
8.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 ………… 2-73
8.2.1 Installing the minus direction stopper ……………………………………………………………………2-75
8.2.2 Installing the plus direction stopper ……………………………………………………………………2-77
8.2.3 Overrun amounts during impacts with Z-axis additional mechanical stopper …………………………2-78