Yamaha Robotics YK120X Manual Do Utilizador

1 Robot Installation Conditions ...................................................................3-1

1-1

Installation environments...................................................................................... 3-1

1-2

Installation base ................................................................................................... 3-3

2 Installation ...............................................................................................3-5

2-1

Unpacking ............................................................................................................ 3-5

2-2

Checking the product ........................................................................................... 3-6

2-3

Moving the robot................................................................................................... 3-7

2-4

Installing the robot ................................................................................................ 3-8

3 Protective Bonding ..................................................................................3-9

4 Robot Cable Connection ....................................................................... 3-11

5 User Wiring and User Tubing ................................................................3-13

6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16

7 Attaching The End Effector ....................................................................3-17

7-1

R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17

7-1-1

Acceleration coefficient vs. moment of inertia (YK120X) ..................................... 3-19

7-1-2

Acceleration coefficient vs. moment of inertia (YK150X) ..................................... 3-21

7-1-3

Acceleration coefficient vs. moment of inertia (YK180X, YK220X) ...................... 3-23

7-2

Equation for moment of inertia calculation ......................................................... 3-24

7-3

Example of moment of inertia calculation........................................................... 3-27

7-4

Attaching the end effector .................................................................................. 3-29

7-5

Gripping force of end effector ............................................................................. 3-32

8 Working Envelope and Mechanical Stopper Positions for Maximum

Working Envelope..................................................................................3-33