Yamaha YP-X Series, Owner'S Manual

Page: 108 / 110

CHAPTER 6 Specifications
6-26
6 Mechanical stopper
A urethane damper is installed to absorb the shock when an impact occurs with
the mechanical stopper, so a certain amount of overrun occurs when the robot
strikes the mechanical stopper. Use caution and take overrun into account since
the end effector may interfere with the robot body and peripheral equipment or
the robot body may interfere with the peripheral equipment. Maximum overrun
amounts are listed below (for normal operation, maximum load mass, maximum
speed).
YP320X
YP330X
YP340X
3
3
3
2
2
2
4
4
3
3
3
2
2
2
3
3
X-axis
Robot Model
Y-axis
Z-axis
Origin side Opposite side Origin side Opposite side Origin side Opposite side
(mm)
! CAUTION
The mechanical stopper position cannot be changed, so select the
robot with the optimum movement range taking the overrun shown
above into account.
! CAUTION
Since the R-axis has no mechanical stoppers, make certain that the end
effector wiring and tubing do not become entangled during operation or
return-to-origin.