3-34
CHAPTER 3 Installation
Table 3-1
Robot Model
R6YXH250
R6YXH350
R6YXH400
N kgf Nm kgfm N kgf
FXYmax Fzmax FRmax
R6YXX1200
MRmax
M
Mmax
Nm
Nm
kgfm kgfm
46
46
46
441
5
5
5
45
40
40
40
39
4
4
4
4
121
121
121
1215
12
12
12
124
6
6
6
98
0.6
0.6
0.6
10
5
5
5
4.9
0.5
0.5
0.5
0.5
F
R
max
Fx
Y
max
Mmax
End effector
Stay
Fzmax
M
R
max
Fig. 3-40 Maximum load applied to end effector attachment
CAUTION
THE HORIZONTAL HOLE PROVIDED IN THE SPLINE IS FOR ATTACHING
A USER TOOL OR R-AXIS ROTATION DURING DIRECT TEACHING.
DO NOT INSERT A PIN OR ROD INTO THIS HOLE IN ORDER TO STOP A
USER TOOL FROM ROTATING. DOING SO MAY DAMAGE THE SPLINE.
WHEN INSERTING A ROD INTO THIS HOLE TO ROTATE THE R-AXIS,
USE A ROUND ROD WITH A DIAMETER SLIGHTLY SMALLER THAN
THE DIAMETER OF EACH HOLE. AVOID USING A SQUARE ROD
BECAUSE THE SPLINE MIGHT BE DAMAGED BY THE EDGE OF THE
ROD.
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