Robot Manipulator - Yamaha YK-X Series User Manual

CHAPTER 2 Functions
1

Robot Manipulator

The YK-XG series robots are available in 4-axis models having an X/Y-axis arm
(equivalent to human arm) and a Z/R-axis (equivalent to human wrist). With these
4 axes, the YK-XG series robots can move as shown in Fig. 2-1. By attaching
different types of end effector (gripper) to the end of the arm, a wide range of
tasks can be performed with high precision at high speeds. The (+) and (-) signs
show the direction of axis movement when the jog keys on the programming unit
are pressed (standard setting at the factory). Fig. 2-2 on the subsequent pages
show part names and functions of each robot model.
X-axis arm
Y-axis
(+)
(-)
(-)
Z-axis
(-)
(+)
Y-axis arm
(+)
X-axis
(-) (+)
R-axis
Fig. 2-1 Manipulator movement
2-1