Yamaha YK-X Series User Manual page 77

4) Robot overrun during impacts with mechanical stopper
A urethane damper is installed to absorb the shock when an impact occurs
with the mechanical stopper, so a certain amount of overrun occurs when the
robot strikes the mechanical stopper. Use caution and take overrun into ac-
count since the end effector may interfere with the robot body and peripheral
equipment or the robot body may interfere with the peripheral equipment.
Maximum overrun amounts are listed below (for normal operation, maxi-
mum payload, maximum speed).
Robot model
YK500XG,YK600XG
YK600XGH, YK700XG to YK800XG
Note: Here, ° (deg.) is the overrun angle at the X-axis and Y-axis joints.
(1) If the X-axis, Y-axis or Z-axis mechanical stopper is deformed or dam-
aged by impacts, please contact our sales office or dealer. Using the de-
formed or damaged mechanical stopper is dangerous, so it must be re-
placed.
(2) When the robot strikes the X-axis or Y-axis mechanical stopper or an-
other object, or when the R-axis collides with an object, speed reduction
gears are locked while being meshed if the collision impact is large. If
this happens, please contact our sales office or dealer.
X-axis Y-axis
9°
9°
3-41
CHAPTER 3 Installation
Z-axis
Upper end Lower end
12° 5mm 5mm
12° 5mm 5mm