User's Manual

CHAPTER 3

Installation

1 Robot Installation Conditions ...................................................................3-1

1-1 Installation environments ...................................................................................... 3-1

1-2 Installation base ................................................................................................... 3-3

2Installation ...............................................................................................3-5

2-1 Unpacking ............................................................................................................ 3-5

2-2 Checking the product ........................................................................................... 3-6

2-3 Moving the robot................................................................................................... 3-7

2-4 Installing the robot ................................................................................................ 3-8

3 Protective Bonding ..................................................................................3-9

4 Robot Cable Connection ....................................................................... 3-11

5 User Wiring and User Tubing ................................................................3-13

6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16

7 Attaching The End Effector ....................................................................3-17

7-1 R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17

7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) ..................................... 3-19

7-1-2 Acceleration coefficient vs. moment of inertia (YK150X) ..................................... 3-21

7-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X) ...................... 3-23

7-2 Equation for moment of inertia calculation ......................................................... 3-24

7-3 Example of moment of inertia calculation........................................................... 3-27

7-4 Attaching the end effector .................................................................................. 3-29

7-5 Gripping force of end effector ............................................................................. 3-32

8Working Envelope and Mechanical Stopper Positions for Maximum

Working Envelope..................................................................................3-33