Yamaha DRCX User Manual download pdf (Page 103)

CHAPTER 6 Specifications

6-21

2-3 Example of moment of inertia calculation

It will be assumed that the chuck and workpiece are at a position offset by 10cm

from the R axis by the stay, as shown in Fig. 6-22.

The moment of inertia is calculated with the following three factors. However,

the load material will be aluminum, and the density =0.0026kg/cm

8cm

2cm

R Axis

1cm

2cm

4cm

6cm

4cm

Stay

Chuck

Work

Fig. 6-22

1. Moment of inertia of the stay

From Fig. 6-23, the weight is:

Ws = ρ abc = 0.0026×10×2×2

= 0.1 (kg)

From equation (6.4), the

moment of inertia is:

Fig. 6-23

10cm

2cm

4cm

0.1×(10

)

12×980

0.1×4

980

0.0025 (kg · cm · sec

)=Jc

Center line

R Axis

1 2 ... 98 99 100 101 102 103 104 105 106 107 108 109 110

YP-X series 1
When using a QRCX controller: 3
[1] X, Y, Z axes 3
[2] R axis 4
Introduction 5
CONTENTS 7
CHAPTER 4 Adjustment 8
CHAPTER 6 Specifications 9
CHAPTER 1 11
Using the Robot Safely 11
1 Safety Information 13
2 Essential Caution Items 14
4 Robot Safety Functions 21
6 Trial Operation 23
7 Work Within The Safeguards 24
8 Automatic Operation 25
9 Adjustment and Inspection 25
10 Repair and Modification 25
11 Warranty 26
12 CE Markings 26
13 Precautions 27
CHAPTER 2 29
Functions 29
1 P & P robot unit 31
2 P & P robot controller 32
CHAPTER 3 33
Installation 33
1-1 Installation environments 35
CHAPTER 3 Installation 36
2 Installation 37
2-2 Installing the robot 38
3 Connection of robot cables 41
4 Protective Bonding 43
CHAPTER 4 45
Adjustment 45
1 Outline 47
1-1 Robot parameter settings 48
2 Setting the origin position 49
Center of rotation 50
Alignment mark seals 50
Seals (supplied) 50
CHAPTER 4 Installation 51
Approx.2mm 53
Load 0.5kg 53
Belt tensioner 53
Z-axis plate 53
Securing bolt 53
Approx. 2mm 54
Driven pulley 55
CHAPTER 5 57
Periodic Inspecition 57
1 Introduction 59
CHAPTER 5 Installation 60
2 Inspection 61
2-2 Six Month Inspection 62
3 Replacement of Motor 63
Fig. 5-1 Motor replacement 64
Z-axis motor 65
Bearing block 65
Rotor plate 66
M2.6 bolt 66
4 Belt replacement method 67
Metal bracket 69
Metal plate 71
5 Sample troubleshooting 73
6 Spare parts list 75
CHAPTER 6 81
Specifications 81
1-2 Robot External Views 84
1) YP340X, TRCX4, QRCX4 90
(Controller side) 93
(Robot side) 93
Air coupling 99
Cable extraction port 99
CHAPTER 6 Specifications 100
From equation (6.4): 104
3 Robot allowable duty 105
YAMAHA YP SERIES 106
5 X-axis droop 107
6 Mechanical stopper 108
YP-XSeries 110

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Yamaha DRCX User Manual Page 103

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