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3-33
CHAPTER 3 Installation
6-4
Attaching the end effector
The manipulator part to which an end effector is attached must have adequate
strength and rigidity, as well as gripping force to prevent positioning errors. Ta-
ble 3-1 shows the maximum load that can be applied to the end effector attach-
ment of each robot model. Recommended methods for attaching end effectors
are shown in Table 3-2 and Fig. 3-41. Refer to Fig. 3-39 for details on the end
effector attachment of each robot model.
When checking end effector operation, refer to "6 Trial Operation" in Chapter 1.
Fig. 3-39 (1)
M16
´
2 depth25
Support shaft clamp plate
25
-0.01
-0.02
39
69
45
47.8
R6YXX1200: Z-axis tip shape
∅
10
+0.2
0
Spline shaft (hollow): hollow diameter
∅
12
(Hole for attaching user tool or
R-axis rotation during direct teaching)
∅
∅
Fig. 3-39 (2)
R6YXH250, R6YXH350, R6YXH400: Z-axis tip shape
41
36
3
0
+0.2
16h7
-0.018
0
Z-axis mechanical
stopper
(Hole for attaching user tool or
R-axis rotation during direct teaching)
Retaining ring to set the user tool
(See cautions on page 3-55.)
Spline shaft (hollow): hollow diameter
7
M8
×
1.25, depth 15
∅
∅
∅
WARNING
BEFORE ATTACHING THE END EFFECTOR, BE SURE TO TURN OFF THE
CONTROLLER.
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Страница 218: ...7 6 CHAPTER 7 Specifications...
Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...