5 User Wiring and User Tubing ..................................................... 3-16
6 Attaching The End Effector ........................................................ 3-20
6-1
R-axis tolerable moment of inertia and acceleration coefcient
............. 3-20
6-1-1 Acceleration coefcient vs. moment of inertia (R6YXCH250) ........................ 3-22
6-1-2 Acceleration coefcient vs. moment of inertia (R6YXCH350) ........................ 3-23
6-1-3 Acceleration coefcient vs. moment of inertia (R6YXCH400) ........................ 3-24
6-1-4 Acceleration coefcient vs. moment of inertia (R6YXC500) ........................... 3-25
6-1-5 Acceleration coefcient vs. moment of inertia (R6YXC600) ........................... 3-28
6-1-6 Acceleration coefcient vs. moment of inertia (R6YXC700) ........................... 3-31
6-1-7 Acceleration coefcient vs. moment of inertia (R6YXC800) ........................... 3-36
6-1-8 Acceleration coefcient vs. moment of inertia (R6YXC1000) ......................... 3-41
6-2 Equation for moment of inertia calculation .......................................... 3-46
6-3 Example of moment of inertia calculation ............................................ 3-46
6-4 Attaching the end effector ..................................................................... 3-47
6-5 Gripping force of end effector .............................................................. 3-51
7 Limiting the Movement Range with X-Axis Mechanical Stoppers
(Excluding R6YXCH250, R6YXCH350, R6YXCH400) ......... 3-52
8 Working Envelope and Mechanical Stopper Positions for
Maximum Working Envelope ..................................................... 3-55
CHAPTER 4 Adjustment
1 Overview....................................................................................... 4-1
2 Safety Precautions ........................................................................ 4-1
3 Adjusting the origin ...................................................................... 4-2
3-1 Absolute reset method............................................................................. 4-2
3-2 Machine reference ................................................................................... 4-2
3-3 Absolute reset procedures ....................................................................... 4-2
3-4
Changing the origin position and adjusting the machine reference
.............. 4-2
3-4-1 Sensor method ...................................................................................................... 4-2
3-4-2 Mark method ........................................................................................................ 4-2
3-4-3 Stroke end method ............................................................................................... 4-3
4 Setting the Soft Limits .................................................................. 4-6
5 Setting the Standard Coordinates.................................................. 4-8
6 Afxing Stickers for Origin Positions,
Movement Directions and Axis Names ........................................ 4-9
7 Removing the Robot Covers ....................................................... 4-11
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