Omron R6YXGLC250, Installation Manual, Page: 101 / 136

6
Tor
que limit designa
ted Z-axis pushing action
6-1
1. Torque limit designated Z-axis
pushing action
Z-axis pushing action can be executed from the program by using the DRIVE statement's torque limit setting.
The table below shows the various tip load weights and the corresponding recommended torque limit (%), torque offset
(gravity offset for tip load weight), and speed limit (%) values relative to the motor's rated torque. 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.
For programming specifics, refer to the separate "YRCX series programming manual" or "YRC series programming
manual".
R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit Value (%)
R6YXGLC(P)250
R6YXGLC(P)350
R6YXGLC(P)400
R6YXGLC(P)500 R6YXGLC(P)600
4kg 55% to 100% 45 to 81 -33 50 40 33
3kg 55% to 100% 45 to 81 -26 50 40 33
2kg 50% to 100% 41 to 81 -20 50 40 33
1kg 40% to 100% 32 to 81 -14 50 40 33
0kg 30% to 100% 24 to 81 -10 50 40 33
R6YXGP500, R6YXGP600 Z200mm stroke specifications
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit
Value (%)
8kg 60% to 100% 120 to 200 -19 15
7kg 50% to 100% 100 to 200 -17 15
6kg 50% to 100% 100 to 200 -15 14
5kg 40% to 100% 80 to 200 -14 14
4kg 40% to 100% 80 to 200 -12 13
3kg 30% to 100% 60 to 200 -10 12
2kg 30% to 100% 60 to 200 -8 12
1kg 30% to 100% 60 to 200 -8 11
0kg 30% to 100% 60 to 200 -8 10