User's Manual

3-29
CHAPTER 3 Installation
7-4 Attaching the end effector
WARNING
Before attaching the end effector, be sure to turn off the controller.
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. Table
3-1 shows the maximum load that can be applied to the end effector attachment
of each robot model. Recommended methods for attaching end effectors are shown
in Table 3-2 and Fig. 3-25. Refer to Fig. 3-23 for details on the end effector
attachment of each robot model.
When checking end effector operation, refer to "6 Trial Operation" in Chapter 1.
φ6
0
-0.012
10
User tool installation range
Retaining ring to set the user tool
YK120X, YK150X YK180X, YK220X
φ10 h7
0
-0.015
15
User tool installation range
Never loosen this bolt.
Fig. 3-23 Z-axis tip shape
Table 3-1
Robot Mode
YK120X
YK150X
N kgf N kgf N kgf Nm kgfm Nm
kgfm
F XY max F Z max F R max M R max Mmax
27
27
2.8
2.8
6.7
6.7
0.7
0.7
9.8
12
1.0
1.3
0.5
0.5
0.05
0.05
0.4
0.4
0.04
0.04
YK180X
27 2.8 6.7 0.7 15.7 1.6 4.5 0.46 0.9 0.09
YK220X
30 3.1 6.7 0.7 18.6 1.9 4.5 0.46 0.9 0.09