Yamaha YK120X, YK180X owner manual Make sure that excessive force is not applied to the joints

CHAPTER 3 Installation

WARNING

The end effector attachment must have adequate strength to withstand the loads listed in Table 3-1. If too weak, the attachment may break during robot operation and fragments fly off causing accidents or injuries.

WARNING

The end effector attachment must have sufficient rigidity versus the loads listed in Table 3-1. If this rigidity is inadequate, the end effector may vibrate during robot operation causing bad effects on the manipulator operation.

WARNING

•When the end effector is attached by slot clamping, always observe the con- ditions listed in Table 3-2. If these are ignored, the end effector may come loose and fly off during robot operation, resulting in an accident or injury.

•In cases where other attachment methods are used, be sure that the end effector will not come off when the loads listed in Table 3-1 are applied.

!CAUTION

The YK120X series (YK120X, YK150X) and YK180X series (YK180X, YK220X) is 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)

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