Table of Contents
Advertisement
1.
Torque limit designated Z-axis
pushing action
Z-axis pushing action can be executed from the program by using the DRIVE statement's torque limit setting.
The table below shows the various tip load weights and the corresponding recommended torque limit (%), torque offset
(gravity offset for tip load weight), and speed limit (%) values relative to the motor's rated torque. Be sure to operate
the robot within these limit values.
Failing to observe these limits could shorten the life of the Z-axis drive area and the arm joints.
For programming specifics, refer to the separate "YRCX series programming manual" or "YRC series programming
manual".
R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600
Tip Load Weight
Torque Limit
(kg)
Value (%)
4kg
55% to 100%
3kg
55% to 100%
2kg
50% to 100%
1kg
40% to 100%
0kg
30% to 100%
R6YXGP500, R6YXGP600 Z200mm stroke specifications
Tip Load Weight
Torque Limit
(kg)
Value (%)
8kg
60% to 100%
7kg
50% to 100%
6kg
50% to 100%
5kg
40% to 100%
4kg
40% to 100%
3kg
30% to 100%
2kg
30% to 100%
1kg
30% to 100%
0kg
30% to 100%
Pushing Force
Torque Offset
(N)
45 to 81
-33
45 to 81
-26
41 to 81
-20
32 to 81
-14
24 to 81
-10
Pushing Force
Torque Offset
(N)
120 to 200
-19
100 to 200
-17
100 to 200
-15
80 to 200
-14
80 to 200
-12
60 to 200
-10
60 to 200
-8
60 to 200
-8
60 to 200
-8
Speed Limit Value (%)
R6YXGLC(P)250
R6YXGLC(P)350
R6YXGLC(P)500
R6YXGLC(P)400
50
40
50
40
50
40
50
40
50
40
Speed Limit
Value (%)
15
15
14
14
13
12
12
11
10
R6YXGLC(P)600
33
33
33
33
6
33
6-1
Advertisement
Table of Contents
