CHAPTER 3 Installation

7-5 Gripping force of end effector

The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the workpiece during robot operation.

The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment. The maximum ac- celeration on the end effector attachment of each robot model is listed in the table below. When the workpiece position is offset to the end effector attachment, the accelerations Amax and AXYmax become larger by an amount equal to the offset versus the arm length. When the R-axis rotates during operation, this acceleration ARmax must be taken into account.

Table 3-3 Maximum acceleration during robot operation

Robot Model

Amax(m/sec2)

AXYmax(m/sec2)

Azmax(m/sec2)

ARmax(rad/sec2)

YK120X

20

8.4

23

267

 

 

 

 

 

YK150X

25

11

16

267

 

 

 

 

 

YK180X

50

16

16

767

 

 

 

 

 

YK220X

61

19

16

767

 

 

 

 

 

ARmax

Amax

AXYmax

Azmax

Fig. 3-26 Maximum acceleration on end effector attachment

WARNING

The gripping force of the end effector must have a sufficient extra margin of strength to prevent the workpiece from coming loose and flying off during robot operation.

If the gripping force is too weak, the workpiece may come loose and fly off causing accidents or injuries.

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Yamaha YK180X, YK120X owner manual Gripping force of end effector, Maximum acceleration during robot operation

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.