Using The Robot Safely; Movement Range - Omron R6YXGL250 Installation Manual

7.

Using the robot safely

7.1

Movement range

When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the
movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece
attached to the manipulator tip (Figure b).
The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip.
The movement range here is defined as the range of robot motion including all areas through which the robot arms, the
tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot arms move.
To make the robot motion easier to understand, the figures below only show the movement ranges of the tool
attachment section, tool, and workpiece.
Please note that during actual operation, the movement range includes all areas where the robot arms and any other
parts move along with the robot.

Movement range

Figure A: Movement range of robot itself
CAUTION
To make the robot motion easier to understand, the above figures only show the movement ranges of the tool attachment section, tool,
and workpiece. In actual operation, the movement range includes all areas where the robot arms and any other parts move along with
the robot.
Figure B: Movement range when tool and workpiece are attached
to manipulator tip
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