Attaching The End Effector - Yamaha YK-X Series User Manual

6-4

Attaching the end effector

WARNING
• Before attaching the end effector, be sure to turn off the controller.
• When the end effector is attached by slot clamping, always observe the con-
ditions listed in Table 3-2. If these are ignored, the end effector may come
loose and fly off during robot operation, resulting in an accident or injury.
• In cases where other attachment methods are used, be sure that the end
effector will not come off when the loads listed in Table 3-1 are applied.
The user's end effector that attaches to the robot must have adequate strength and
rigidity, as well as gripping force to prevent positioning errors. Table 3-1 shows
the maximum load that can be applied to the end effector attachment of each
robot model. Recommended methods for attaching end effectors are shown in
Table 3-2 and Fig. 3-27. Refer to Fig. 3-25 for details on the end effector attach-
ment of each robot model. Refer to Fig. 3-3 for the depth of tapped hole and
recommended type of tap bolt. When checking end effector operation, refer to "6
Trial Operation" in Chapter 1.
3-25
CHAPTER 3 Installation