Installation Base - Omron SCARA R6Y-XC Series User Manual

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Installation base

1) Prepare a sufficiently rigid and stable installation base, taking account of
the robot weight including the end effector (gripper), workpiece and reac-
tion force while the robot is operating. The maximum reaction force (see
Fig. 3-1) applied to the X-axis and Z-axis of each robot during operation is
shown in the table below. These values are an instantaneous force applied
to the robot during operation and do not indicate the maximum load capa-
city.
2) The parallelism of the installation base surface must be machined within
a precision of ±0.05mm/500mm. The robot base mount must be installed
facing down and in a level position (except ceiling-mount models which
should be installed with the base mount facing up).
3) Tap holes into the surface of the installation base. For machining dimen-
sions and positions, refer to the dimensional outlines listed in our robot
catalog.
The maximum reaction force
F max
X
N
Robot Model
R6YXCH250 305
R6YXCH350 330
391
R6YXCH400
708
R6YXC500
R6YXC600 735
R6YXC700 1653
1707
R6YXC800
1618
R6YXC1000
Fxmax
Fzmax
Load
Fig. 3.1 Maximum reaction force applied during operation
3-3
M max
X
kgf Nm kgfm
31 56 6
34 56 6
40 56 6
72 137 14
75 137 14
169 304 31
174 304 31
165 333 34
Mxmax
CHAPTER 3 Installation
F max
Z
N kgf
40 4
40 4
40 4
89 9
89 9
159 16
159 16
127 13