![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981077.webp)
3-37
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
R6YXH250
R6YXH350
R6YXH400
R6YXX1200
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
45
40
39
8
A
R
max
Azmax
Amax
A
XY
max
Fig. 3-42 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.
Содержание R6Y Series
Страница 2: ......
Страница 12: ......
Страница 30: ......
Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
Страница 32: ......
Страница 38: ......
Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Страница 108: ......
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...
Страница 160: ......
Страница 162: ......
Страница 202: ......
Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Страница 204: ......
Страница 210: ......
Страница 212: ......
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...