6
Tor
que limit designa
ted Z-axis pushing action
6-1
1. Torque limit designated Z-axis
pushing action
Z-axis pushing action can be executed from the program by using the DRIVE statement's torque limit setting.
The table below shows the various tip load weights and the corresponding recommended torque limit (%), torque offset
(gravity offset for tip load weight), and speed limit (%) values relative to the motor's rated torque. Be sure to operate
the robot within these limit values.
Failing to observe these limits could shorten the life of the Z-axis drive area and the arm joints.
For programming specifics, refer to the separate "YRCX series programming manual" or "YRC series programming
manual".
R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit Value (%)
R6YXGLC(P)250
R6YXGLC(P)350
R6YXGLC(P)400
R6YXGLC(P)500
R6YXGLC(P)600
4kg
55% to 100%
45 to 81
-33
50
40
33
3kg
55% to 100%
45 to 81
-26
50
40
33
2kg
50% to 100%
41 to 81
-20
50
40
33
1kg
40% to 100%
32 to 81
-14
50
40
33
0kg
30% to 100%
24 to 81
-10
50
40
33
R6YXGP500, R6YXGP600 Z200mm stroke specifications
Tip Load Weight
(kg)
Torque Limit
Value (%)
Pushing Force
(N)
Torque Offset
Speed Limit
Value (%)
8kg
60% to 100%
120 to 200
-19
15
7kg
50% to 100%
100 to 200
-17
15
6kg
50% to 100%
100 to 200
-15
14
5kg
40% to 100%
80 to 200
-14
14
4kg
40% to 100%
80 to 200
-12
13
3kg
30% to 100%
60 to 200
-10
12
2kg
30% to 100%
60 to 200
-8
12
1kg
30% to 100%
60 to 200
-8
11
0kg
30% to 100%
60 to 200
-8
10
Содержание R6YXGLC250
Страница 1: ...ZX T Series Cat No I158E EN 02A R6Y XGC XGP series INSTALLATION MANUAL SCARA Robots XG Series...
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Страница 37: ...Contents Before using the robot Be sure to read the following notes i Introduction iii Introduction...
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Страница 91: ...Chapter 4 Periodic inspection Contents 1 List of inspection items 4 1...
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Страница 95: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Страница 136: ...Cat No I158E EN 02A Note Specifications subject to change without notice Authorized Distributor Printed in Europe...