Yamaha YK-XR Series, Installation Manual

Page: 34 / 158

Safety Instructions
S-26
7. Using the robot safely
7.1 Movement range
When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from
the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and
workpiece attached to the manipulator tip (Figure B).
The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip.
The movement range here is defined as the range of robot motion including all areas through which the robot
arms, the tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot
arms move.
To make the robot motion easier to understand, the figures below only show the movement ranges of the tool
attachment section, tool, and workpiece.
Please note that during actual operation, the movement range includes all areas where the robot arms and any
other parts move along with the robot.
Movement range
Figure A: Movement range of robot itself Figure B: Movement range when tool and workpiece are attached
to manipulator tip
93009-X0-00
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CAUTION
To make the robot motion easier to understand, the above figures only show the movement ranges of the tool
attachment section, tool, and workpiece. In actual operation, the movement range includes all areas where the
robot arms and any other parts move along with the robot.