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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)
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...