Robot Manipulator; Manipulator Movement - Yamaha YK250XGC Installation Manual

1.

Robot manipulator

1
This Chapter describes only the points that are different from the standard models.
For details about other explanations, see the Installation Manual for YK-XG series standard models.
1.1

Manipulator movement

The YK-XG series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and
a Z/R-axis (equivalent to human wrist). With these 4 axes, the YK-XG series robots can move as shown in the
Fig. below. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks
can be performed with high precision at high speeds. The (+) and (-) signs show the direction of axis movement
when the jog keys on the programming box are pressed (standard setting at the factory).
Manipulator movement
Y-axis arm
X-axis arm
Y-axis
(+)
(-)
X-axis
(+)
(-)
(-)
Z-axis
(+)
(-) (+)
R-axis
23101-HM-00
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