User's Manual

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3-31

CHAPTER 3 Installation

WARNING

The end effector attachment must have adequate strength to withstand the

loads listed in Table 3-1. If too weak, the attachment may break during robot

operation and fragments fly off causing accidents or injuries.

WARNING

The end effector attachment must have sufficient rigidity versus the loads listed

in Table 3-1. If this rigidity is inadequate, the end effector may vibrate during

robot operation causing bad effects on the manipulator operation.

WARNING

•When the end effector is attached by slot clamping, always observe the con-

ditions listed in Table 3-2. 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 when the loads listed in Table 3-1 are applied.

CAUTION

The YK120X series (YK120X, YK150X) and YK180X series (YK180X, YK220X)

is designed to be compact, so the joints could be damaged if excessive force is

applied, for example, during installation of an end effector.

Make sure that excessive force is not applied to the joints.

Axis

YK120X, YK150X

X-axis

Y-axis

R-axis

Tolerable radial load

100N (10.2kgf)

45N (4.6kgf)

Tolerable thrust load

100N (10.2kgf)

45N (4.6kgf)

Tol er able moment load

Tolerable torque

1.5Nm (15.3kgfcm)

0.45Nm (4.6kgfcm)

1.7Nm (17.3kgfcm)

0.5Nm (5.1kgfcm)

0.3Nm (3.1kgfcm)

Axis

YK180X, YK220X

X-axis

Y-axis

R-axis

Tolerable radial load

275N (28.1kgf)

150N (15.3kgf)

Tolerable thrust load

900N (91.8kgf)

600N (61.2kgf)

Tolerable moment load

Tolerable torque

6.0Nm (61.2kgfcm)

3.3Nm (33.7kgfcm)

9.0Nm (91.8kgfcm)

4.0Nm (40.8kgfcm)

2.2Nm (22.4kgfcm)