Omron R6YXG500, Руководство по установке

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2
Installa
tion
2-49
6.4 Attaching the end effector
It is necessary to prepare the user's end effector attaching part to the robot that has adequate strength and rigidity, as
well as gripping force to prevent positioning errors.
WARNING
• bEFoRE ATTACHInG THE End EFFECToR, bE SURE To TURn oFF THE ConTRoLLER.
• WHEn THE End EFFECToR IS ATTACHEd USInG THE SLoT CLAmpInG, ALWAYS obSERvE THE CondITIonS
LISTEd In THE TAbLE, "mAXImUm LoAd AppLIEd To End EFFECToR ATTACHmEnT". IF THESE ARE IGnoREd,
THE End EFFECToR mAY ComE LooSE And FLY oFF dURInG RoboT opERATIon, RESULTInG In An ACCIdEnT
oR InJURY.
• In CASES WHERE oTHER ATTACHmEnT mETHodS ARE USEd, bE SURE THAT THE End EFFECToR WILL noT
ComE oFF EvEn WHEn THE LoAdS LISTEd In THE TAbLE, "mAXImUm LoAd AppLIEd To End EFFECToR
ATTACHmEnT" ARE AppLIEd.
NOTE
When checking end effector operation, refer to the section "4.5.1 Trial Operation" in Chapter “Safety Instructions” of this manual.
The following shows the maximum load that can be applied to the end effector attachment of each robot model.
WARNING
• THE End EFFECToR ATTACHmEnT mUST HAvE AdEqUATE STREnGTH To WITHSTAnd THE LoAdS LISTEd In
THE TAbLE bELoW. IF THE STREnGTH IS InSUFFICIEnT, THE ATTACHmEnT mAY bREAK dURInG RoboT
opERATIon And FRAGmEnTS FLY oFF, CAUSInG ACCIdEnTS oR InJURIES.
• THE End EFFECToR ATTACHmEnT mUST HAvE SUFFICIEnT RIGIdITY To THE LoAdS LISTEd In THE TAbLE
bELoW. IF THIS RIGIdITY IS InAdEqUATE, THE End EFFECToR mAY vIbRATE dURInG RoboT opERATIon,
CAUSInG AdvERSE EFFECTS on THE WoRK.
Maximum load applied to end effector attachment
Robot Model
FXYmax FZmax FRmax MRmax Mmax
N kgf N kgf N kgf Nm kgfm Nm kgfm
R6YXGL250 125 13 108 11 382 39 18 1.8 29 3.0
R6YXGL350, R6YXGS300 88 9 108 11 294 30 18 1.8 25 2.6
R6YXGL400, R6YXGS400 75 8 108 11 265 27 18 1.8 23 2.4
R6YXGL500 68 6.9 108 11 117 18 18 1.8 19 1.9
R6YXGL600 60 6.1 108 11 147 15 18 1.8 9 1.0
R6YXG500, R6YXGS500 173 18 134 14 506 52 24 2.6 15 1.5
R6YXG600, R6YXGS600 173 18 134 14 506 52 24 2.6 15 1.5
R6YXGH600 489 49 214 22 696 71 56 5.7 26 2.7
R6YXG700, R6YXGS700 489 49 214 22 696 71 56 5.7 26 2.7
R6YXG800, R6YXGS800 489 49 191 19 696 71 56 5.7 24 2.4
R6YXG900, R6YXGS900 443 46 191 19 696 71 56 5.7 24 2.4
R6YXG1000, R6YXGS1000 443 46 191 19 696 71 56 5.7 24 2.4
Maximum load applied to end effector attachment
F
R
max
End effector
Stay
FxYmax
Fzmax
M
R
max
Mmax