CHAPTER 3 Installation

7 Attaching The End Effector

7-1 R-axis tolerable moment of inertia and acceleration coeffi- cient

1) The moment of inertia of a load (end effector and workpiece) that can be attached to the R-axis is limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the acceleration coefficient in accordance with the moment of inertia.

2) The R-axis tolerable moment of inertia and the acceleration coefficient ver- sus R-axis moment of inertia for each robot model are shown in Fig. 3-9, Fig. 3-10 and Fig. 3-11 on the subsequent pages. The symbols AX, AY, and AR in each figure respectively indicate the acceleration coefficients of the X- axis, Y-axis and R-axis. The symbol IR (JR) is the moment of inertia of the load around the R-axis and m is the tip mass.

Example: YK120X

Assume that the mass of the load installed to the R-axis is 0.15kg and the moment of inertia around the R-axis is 0.0005kgm2 (0.005kgfcmsec2). When the tip mass parameter is set to 0.2kg, the robot can be operated by reducing the X, Y and R-axis acceleration coefficients to 50%, as can be seen from Fig. 3-9.

Be sure to select an optimum tip mass and acceleration coefficient param- eters that meet the mass of the load and moment of inertia before using the robot.

To make settings for the tip mass and acceleration coefficient, refer to the separate "YAMAHA robot controller owner's manual".

3) Methods for calculating the moment of inertia of the load are shown in Sec- tion 6-2, however, it is not easy to precisely figure out these values.

If a calculated value smaller than the actual moment of inertia is set, residual vibrations may occur. If this happens, reduce the acceleration coefficient pa- rameter even further.

! CAUTION

The robot must be operated with correct tolerable moment of inertia and accel- eration coefficients according to the manipulator tip mass and moment of iner- tia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result.

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Yamaha YK120X, YK180X owner manual Attaching The End Effector
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YK120X, YK180X specifications

The Yamaha YK180X and YK120X are two of the latest offerings from Yamaha in the sphere of high-performance synthesizers, designed to cater to both novice and professional musicians. These models are part of Yamaha's commitment to innovation, combining advanced technologies with user-friendly interfaces to create instruments that inspire creativity.

The YK180X stands out with its 88 weighted keys that emulate the feel of an acoustic piano. This feature is particularly beneficial for pianists who seek a realistic playing experience. In contrast, the YK120X offers 61 semi-weighted keys, making it more portable while still providing a satisfying touch that balances playability and responsiveness. Both models incorporate Yamaha's renowned Graded Hammer Standard action, ensuring that the playing experience aligns with traditional piano dynamics.

One of the key technological advancements in both models is the integrated Pure CF Sound Engine. This technology captures the nuances of Yamaha's acclaimed concert grand pianos, delivering rich and authentic sound across a wide range of musical styles. Additionally, the synthesis engines in these synths allow for an expansive palette of sounds, from lush strings and bold brass to rich synthetic tones, enabling musicians to explore various genres effortlessly.

Another impressive feature of the YK180X and YK120X is the extensive library of built-in voices and styles. The YK180X boasts over 600 voices and 200 styles, while the YK120X comes with a diverse selection of over 400 voices and 150 styles, providing users with an array of options to enhance their performance. Both models also include a user-friendly interface with intuitive navigation, allowing for quick access to features and customization.

Connectivity is a critical aspect, and both synthesizers include USB to Host ports for easy integration with computers and mobile devices. With MIDI in and out options, musicians can connect to other musical gear, making these models versatile companions for stage performances and studio recordings alike.

In terms of additional features, the YK180X and YK120X come equipped with a built-in metronome and transpose functions, essential tools for practicing and performing. Moreover, the onboard recording capabilities allow musicians to capture their ideas and compositions quickly and efficiently.

Overall, the Yamaha YK180X and YK120X are powerful and versatile synthesizers that cater to a wide range of musical needs, from home practice to professional settings. With their superior sound quality, realistic playability, and innovative features, they represent an excellent choice for musicians looking to elevate their musical journey.
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