Yamaha YK120X Attaching the end effector, 23 Z-axis tip shape, FXYmax, FZmax, FRmax, MRmax, Mmax

CHAPTER 3 Installation

7-4 Attaching the end effector

WARNING

Before attaching the end effector, be sure to turn off the controller.

The manipulator part to which an end effector is attached must have adequate strength and rigidity, as well as gripping force to prevent positioning errors. Table 3-1 shows the maximum load that can be applied to the end effector attachment of each robot model. Recommended methods for attaching end effectors are shown in Table 3-2 and Fig. 3-25. Refer to Fig. 3-23 for details on the end effector attachment of each robot model.

When checking end effector operation, refer to "6 Trial Operation" in Chapter 1.

User tool installation range

10

Never loosen this bolt.

Retaining ring to set the user tool

User tool installation range

15

φ6 -00.012 φ10 h7 -00.015

YK120X, YK150X							YK180X, YK220X
				Fig. 3-23 Z-axis tip shape
						Table 3-1
	FXYmax		FZmax			FRmax		MRmax		Mmax
Robot Mode	N	kgf	N		kgf	N	kgf	Nm	kgfm	Nm	kgfm
YK120X	27	2.8	6.7		0.7	9.8	1.0	0.5	0.05	0.4	0.04
YK150X	27	2.8	6.7		0.7	12	1.3	0.5	0.05	0.4	0.04
YK180X	27	2.8	6.7		0.7	15.7	1.6	4.5	0.46	0.9	0.09
YK220X	30	3.1	6.7		0.7	18.6	1.9	4.5	0.46	0.9	0.09

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