Robotics User Manual

3-3
CHAPTER 3 Installation
1-2 Installation base
1) Prepare a sufficiently rigid and stable installation base, taking account of the
robot weight including the end effector (gripper), workpiece and reaction
force while the robot is operating. The maximum reaction force (see Fig. 3-
1) applied to the X-axis and Z-axis of each robot during operation is shown
in the table below. These values are an instantaneous force applied to the
robot during operation and do not indicate the maximum load capacity.
Robot Mode
YK120X
YK150X
YK180X
YK220X
F X max
M
X max
F
Z max
The maximum reaction force
N kgf Nm kgfm N kgf
23
27
2.3
2.7
3.3
3.3
0.34
0.34
6.7
6.7
0.7
0.7
196
20
18 1.8
6.7
0.7
157
16
18 1.8
6.7
0.7
Fxmax
Fzmax
Mxmax
Load
Fig. 3.1 Maximum reaction force applied during operation
2) The parallelism of the installation base surface must be machined within a
precision of ±0.05mm/500mm. The robot base mount must be installed fac-
ing down and in a level position.
3) Tap holes into the surface of the installation base. Refer to "1-2 External
view and dimensions" in Chapter 7 for machining dimensions and positions.
4) Securely fix the installation base on the floor with anchor bolts.