Omron SCARA R6Y-XC Series, User Manual, Page: 89 / 203

3-51
CHAPTER 3 Installation
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 work-
piece 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 ac-
celeration on the end effector attachment of each robot model is listed in the ta-
ble below. When the workpiece position is offset to the end effector attachment,
the accelerations Amax and A
XY
max become larger by an amount equal to the
offset versus the arm length. When the R-axis rotates during operation, this ac-
celeration A
R
max must be taken into account.
Table 3-3 Maximum acceleration during robot operation
Robot Model
R6YXCH250
R6YXCH350
R6YXCH400
R6YXC500
R6YXC600
R6YXC700
R6YXC800
R6YXC1000
Amax(m/sec
2
) A
XY
max(m/sec
2
) Azmax(m/sec
2
) A
R
max(rad/sec
2
)
62 45 23 140
71 48 23 120
91 46 23 120
48 32 38 140
52 27 38 140
64 46 32 160
67 39 32 160
63 39 32 136
A
R
max
Amax
Azmax
A
XY
max
Fig. 3-66 Maximum acceleration on end effector attachment
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.