Yamaha YK180X, YK120X owner manual 24Do not apply excessive force to each section

CHAPTER 1 Using the Robot Safely

(24)Do not apply excessive force to each section.

!CAUTION

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

YK120X, YK150X

Axis	Tolerable radial load		Tolerable thrust load		Tolerable moment load	Tolerable torque
X-axis	100N	(10.2kgf)	100N	(10.2kgf)	1.5Nm (15.3kgfcm)	1.7Nm (17.3kgfcm)
Y-axis	45N	(4.6kgf)	45N	(4.6kgf)	0.45Nm (4.6kgfcm)	0.5Nm (5.1kgfcm)
R-axis	45N	(4.6kgf)	45N	(4.6kgf)	0.45Nm (4.6kgfcm)	0.3Nm (3.1kgfcm)
YK180X, YK220X
Axis	Tolerable radial load		Tolerable thrust load		Tolerable moment load	Tolerable torque
X-axis	275N	(28.1kgf)	900N	(91.8kgf)	6.0Nm (61.2kgfcm)	9.0Nm (91.8kgfcm)
Y-axis	150N	(15.3kgf)	600N	(61.2kgf)	3.3Nm (33.7kgfcm)	4.0Nm (40.8kgfcm)
R-axis	150N	(15.3kgf)	600N	(61.2kgf)	3.3Nm (33.7kgfcm)	2.2Nm (22.4kgfcm)

(25)Check the machine reference value when the arm struck against the mechanical stopper.

!CAUTION

When the arm moves at high speed and strikes against a mechanical stopper violently, the machine reference value may change. If this has happened, check the machine reference value. Also check the mechanical stopper for any dam- age and the origin position for shift. If the machine reference value is outside the recommended range, adjust the machine reference. In this case, re-teach- ing may be required if the origin position has shifted.

(26)Use caution not to apply excessive force to the machine har- ness, user signal cables and air tubes.

!CAUTION

A positioning error may occur if excessive force is applied to the machine har- ness, user signal cables or air tubes. A positioning error may also occur if the machine harness, user signal cables or air tubes have deteriorated due to im- proper installation environment.

(27)Caution when turning off the robot controller

!CAUTION

The XY arm positions might move slightly due to the harness reaction force when the power to the robot controller is turned off, making it difficult to back up the correct position data. To avoid this, before turning off the power to the robot controller, press the emergency stop button and check that the robot arms have completely stopped.

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