Yamaha YK120X, YK180X owner manual Robot Manipulator, 1 Manipulator movement

CHAPTER 2 Functions

1 Robot Manipulator

The YK-X series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a Z/R-axis (equivalent to human wrist).

With these 4 axes, the YK-X series robots can move as shown in Fig. 2-1. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks can be performed with high precision at high speeds.

The (+) and (-) signs show the direction of axis movement when the jog keys on the programming unit are pressed (standard setting at the factory). Fig. 2-2 to Fig. 2-4 on the subsequent pages show part names and functions of each robot model.

Y-axis arm

X-axis arm

(+)

(–)

Y-axis

(–)(+) X-axis

(–)

Z-axis

(+)

(–)(+)

R-axis

Fig. 2-1 Manipulator movement

2-1