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Omron SCARA R6Y-XC Series User Manual

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Cat. No. I144E-EN-01
SCARA Robots
ZX-T Series
XC Series
R6Y - XC series
USER´S MANUAL

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Summary of Contents for Omron SCARA R6Y-XC Series

  • Page 1 Cat. No. I144E-EN-01 SCARA Robots ZX-T Series XC Series R6Y - XC series USER´S MANUAL...
  • Page 3 Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this OMRON XC series SCARA robot. 1. Please be sure to perform the following tasks before using the robot. Failing to perform the tasks below will require re-teaching of the robot since the origin position cannot be set to the same previous position.
  • Page 4 Set the reference coordinates while referring to instructions in "5. Setting the Reference Coordinates" in Chapter 4 of this manual and also to "Setting the Reference Coordinates" in the "OMRON Robot Controller User's Manual". Robot malfunctions (vibration, noise) may occur if the reference coordinates are not set correctly.
  • Page 5 For the operating or maintenance procedures not described in this manual, please refer to the description of standard models listed in the "OMRON SCARA Robot User's Manual". Also refer to that manual for precautions and warranty. If there are any obscure points in handling the robot, be sure to contact OMRON sales office or dealer.
  • Page 6 When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

  • Page 7: Table Of Contents

    CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information ................ 1-1 2 Essential Caution Items ..............1-2 3 Special Training for Industrial Robot Operation ......1-8 4 Robot Safety Functions..............1-9 5 Safety Measures for the System ..........1-10 6 Trial Operation ................
  • Page 8 5 User Wiring and User Tubing ............. 3-16 6 Attaching The End Effector ............3-20 R-axis tolerable moment of inertia and acceleration coefficient ..... 3-20 6-1-1 Acceleration coefficient vs. moment of inertia (R6YXCH250) ......3-22 6-1-2 Acceleration coefficient vs. moment of inertia (R6YXCH350) ......3-23 6-1-3 Acceleration coefficient vs.
  • Page 9 8 Adjusting the Timing Belt Tension ..........4-15 Adjusting the belt tension (R6YXCH250, R6YXCH350, R6YXCH400) ..4-16 Adjusting the belt tension (R6YXC500, R6YXC600) ......4-18 Adjusting the belt tension (R6YXC700, R6YXC800, R6YXC1000) .. 4-20 CHAPTER 5 Periodic Inspecition 1 Overview..................5-1 2 Precautions ..................
  • Page 11 CHAPTER Using the Robot Safely 1 Safety Information ................1-1 2 Essential Caution Items ..............1-2 3 Special Training for Industrial Robot Operation ........1-8 4 Robot Safety Functions ..............1-9 5 Safety Measures for the System ............1-10 6 Trial Operation ................. 1-11 7 Work Within the Safeguard Enclosure ..........1-12 8 Automatic Operation ................1-13 9 Adjustment and Inspection ...............1-13 10 Repair and Modification ..............1-13...

  • Page 13: Chapter 1 Using The Robot Safely

    Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of OMRON industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.

  • Page 14: Essential Caution Items

    CHAPTER 1 Using the Robot Safely Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot.
  • Page 15 CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (Fig. 1-3) is affixed to the robot. See Fig. 2-2 to Fig. 2-4 for the locations of warning labels. • Be sure to read the warning label and this manual carefully and make you thoroughly understand the contents before attempting installation and operation of the robot.
  • Page 16 CHAPTER 1 Using the Robot Safely (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS RELEASED, CAUSING A HAZARDOUS SITUATION. • PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
  • Page 17 FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK. • NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER. For precautions on handling the controller, refer to the "OMRON Robot Controller User's Manual".
  • Page 18 WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS, CONTINUOUS OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT OMRON DEALER FOR CORRECTIVE ACTION. Damage or Trouble Possible Danger Damage to machine harness or robot cable...
  • Page 19 CHAPTER 1 Using the Robot Safely (18) Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK. (19) Be sure to make correct parameter settings. CAUTION THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE MOMENT OF INERTIA AND ACCELERATION COEFFICIENTS ACCORDING TO THE MANIPULATOR TIP MASS AND MOMENT OF INERTIA.

  • Page 20: Special Training For Industrial Robot Operation

    CHAPTER 1 Using the Robot Safely Special Training for Industrial Robot Operation Companies or factories using industrial robots must make sure that every person, who handles the robot such as for teaching, programming, movement check, inspection, adjustment and repair, has received appropriate training and also has the skills needed to perform the job correctly and safely.

  • Page 21: Robot Safety Functions

    CHAPTER 1 Using the Robot Safely Robot Safety Functions (1) Overload detection This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures. 1. Insert a timer in the program. 2.

  • Page 22: Safety Measures For The System

    CHAPTER 1 Using the Robot Safely Safety Measures for the System Since the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Accordingly, appropriate safety measures must be taken on the part of the system manufacturer according to the individual system.

  • Page 23: Trial Operation

    CHAPTER 1 Using the Robot Safely Trial Operation After making installations, adjustments, inspections, maintenance or repairs to the robot, make a trial run using the following procedures. (1) If a safeguard enclosure has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipula- tor in place of the safeguard enclosure, and observe the following points.

  • Page 24: Work Within The Safeguard Enclosure

    CHAPTER 1 Using the Robot Safely Work Within the Safeguard Enclosure (1) When work is required inside the safeguard enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel, except for the following cases.

  • Page 25: Automatic Operation

    CHAPTER 1 Using the Robot Safely Automatic Operation Automatic operation described here includes all operations in AUTO mode. (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming box and tools are in their specified locations. 3.

  • Page 26: Warranty

    CHAPTER 1 Using the Robot Safely Warranty The OMRON robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the...
  • Page 27 WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

  • Page 28: Ce Marking

    CHAPTER 1 Using the Robot Safely CE Marking When the OMRON robots are exported to or used in EU (European Union) countries, refer to the separate "OMRON Robot Controller User's Manual" or "CE marking Supplement Manual" for related information about CE marking.

  • Page 29: Chapter 2 Functions

    CHAPTER Functions 1 Robot Manipulator ................2-1 2 Robot Controller .................2-5...

  • Page 31: Robot Manipulator

    CHAPTER 2 Functions Robot Manipulator The XC 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 XC series robots can move as shown in Fig. 2-1. By at- taching 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.
  • Page 32 CHAPTER 2 Functions D-sub connector for user wiring (No.1 to 10) User tubing 3 (ø4 blue) User tubing 1 (ø4 black) User tubing 2 (ø4 red) Ball screw Machine harness Warning label 1 (Same on opposite side) Warning label 2 (Same on opposite side) Z-axis motor R-axis motor...
  • Page 33 CHAPTER 2 Functions X-axis movable mechanical stopper Eyebolt installation position User tubing 2 (ø6 red) User tubing 3 (ø6 blue) D-sub connector for user wiring (No.1 to 20) User tubing 1 (ø6 black) Y-axis mechanical stopper Machine harness Ball screw Warning label 1 (Same on opposite side) Warning label 2 (Same on opposite side) 2×2-M4×0.7...
  • Page 34 CHAPTER 2 Functions User tubing 1 (ø6 black) X-axis movable User tubing 2 (ø6 red) Eyebolt installation position mechanical stopper User tubing 3 (ø6 blue) Y-axis mechanical stopper D-sub connector for user wiring (No.1 to 20) Machine harness Ball screw Warning label 2 (Same on opposite side) Warning label 1 (Same on opposite side) R-axis motor...

  • Page 35: Robot Controller

    CHAPTER 2 Functions Robot Controller The XC series robot comes supplied with a robot controller YRC. For more de- tails, refer to the separate "OMRON Robot Controller User's Manual". MO TOR OP.1 OP.3 S R V B AT T SE L OP.2...
  • Page 37 CHAPTER Installation 1 Robot Installation Conditions ............3-1 Installation environments ................3-1 Installation base .................... 3-3 2 Installation ..................3-5 Unpacking ..................... 3-5 Checking the product ..................3-6 Moving the robot................... 3-7 2-3-1 Moving the R6YXCH250, R6YXCH350, R6YXCH400 ......3-7 2-3-2 Moving the R6YXC500, R6YXC600, R6YXC700, R6YXC800, R6YXC1000 3-8 Installing the robot ..................

  • Page 39: Chapter 3 Installation

    Working space repair, etc.) For detailed information on how to install the robot controller, refer to the sepa- rate “OMRON Robot Controller User’s Manual”. WARNING AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY, OR IN ENVIRONMENTS WHERE WATER, CORROSIVE GASES, METALLIC POWDER OR DUST ARE GENERATED.
  • Page 40 CHAPTER 3 Installation WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION. ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE MANIPULATOR TO FALL OVER.

  • Page 41: Installation Base

    CHAPTER 3 Installation Installation base 1) Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reac- tion force while the robot is operating. The maximum reaction force (see Fig.
  • Page 42 CHAPTER 3 Installation 4) Securely fix the installation base on the floor with anchor bolts. WARNING DO NOT PLACE THE ROBOT ON A MOVING INSTALLATION BASE. EXCESSIVE LOADS WILL BE APPLIED TO THE ROBOT ARM BY MOVEMENT OF THE INSTALLATION BASE, RESULTING IN DAMAGE TO THE ROBOT.

  • Page 43: Installation

    CHAPTER 3 Installation Installation Unpacking WARNING THE ROBOT AND CONTROLLER ARE HEAVY. TAKE SUFFICIENT CARE NOT TO DROP THEM DURING MOVING OR UNPACKING AS THIS MAY DAMAGE THE EQUIPMENT OR CAUSE BODILY INJURY. CAUTION WHEN MOVING THE ROBOT OR CONTROLLER BY EQUIPMENT SUCH AS A FOLKLIFT THAT REQUIRE A LICENSE, ONLY PROPERLY QUALIFIED PERSONNEL MAY OPERATE IT.

  • Page 44: Checking The Product

    The following configurations are typical examples, so please check that the product is as specified in your order. CAUTION IF THERE IS ANY DAMAGE DUE TO TRANSPORTATION OR INSUFFICIENT PARTS, PLEASE NOTIFY YOUR OMRON SALES OFFICE OR DEALER IMMEDIATELY. [Example] Controller : YRC Robot...

  • Page 45: Moving The Robot

    CHAPTER 3 Installation Moving the robot WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT. • DO NOT ALLOW ANY PART OF YOUR BODY TO ENTER THE AREA BENEATH THE ROBOT DURING WORK. • ALWAYS WEAR A HELMET, SAFETY SHOES AND GLOVES DURING WORK.

  • Page 46: Moving The R6Yxc500, R6Yxc600, R6Yxc700, R6Yxc800, R6Yxc1000

    CHAPTER 3 Installation 2-3-2 Moving the R6YXC500, R6YXC600, R6YXC700, R6YXC800, R6YXC1000 WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT. •CHECK THAT THERE ARE NO CRACKS AND CORROSION ON THE EYEBOLT INSTALLATION. IF FOUND, DO NOT USE EYEBOLTS TO MOVE THE ROBOT.
  • Page 47 CHAPTER 3 Installation 5) Wind the robot cable around the upper part of the robot pedestal so that it does not hang up on the base mount, then fasten the cable end with adhesive tape. 6) Prepare two looped ropes with the same length to allow a good lifting balance, then pass each rope through each eyebolt and catch it on the hoist hook.
  • Page 48 CHAPTER 3 Installation Set screw Eyebolt (2 pieces supplied with the robot) Bearing surface for eyebolt Arm clamping stay (supplied with the robot) Bolt (2 pieces supplied with the robot) Tightening toeque 4.5N•m (46kgf•cm) X-axis arm cover R6YXC500, R6YXC600 Hoist hook Bearing surface for eyebolt Rope R6YXC700 - R6YXC1000...

  • Page 49: Installing The Robot

    CHAPTER 3 Installation Installing the robot Install the robot securely with the four hex socket head bolts as shown in Fig. 3-6. WARNING WHEN INSTALLING THE ROBOT, BE SURE TO USE THE SPECIFIED SIZE AND QUANTITY OF BOLTS THAT MATCH THE DEPTH OF TAPPED HOLES IN THE INSTALLATION BASE, AND SECURELY TIGHTEN THE BOLTS TO THE CORRECT TORQUE.

  • Page 50: Protective Bonding

    3) For details on protective bonding on the robot body to comply with CE markings, follow the instructions on protective bonding explained in the “OMRON Robot Controller User’s Manual”. 4) Use a ground cable with a conductor wire cross section of at least 2.0mm and a length within 1 meter.
  • Page 51 CHAPTER 3 Installation Ground symbol M4 Ground terminal Fig. 3-7 Ground terminal 3-13...

  • Page 52: Robot Cable Connection

    Robot Cable Connection The robot cable is pre-connected to the XC series robot. For details on connections to the robot controller, refer to Fig. 3-8 and the "OMRON Robot Controller User's Manual". After making connections, check the operation while referring to "6 Trial operation" in Chapter 1.
  • Page 53 CHAPTER 3 Installation WARNING LAY OUT THE ROBOT CABLES SO AS TO KEEP THE OPERATOR OR ANY OTHER PERSON FROM TRIPPING ON THEM. BODILY INJURY MAY RESULT IF SOMEONE TRIPS ON THE CABLES. Controller side connector Robot side connector ROB I/O Robot cable ROB I/O Fig.

  • Page 54: User Wiring And User Tubing

    CHAPTER 3 Installation User Wiring and User Tubing WARNING ALWAYS TURN OFF THE CONTROLLER AND SHUT OFF AIR SUPPLY BEFORE ATTEMPTING WIRING AND PIPING WORK. IF AIR OR POWER IS SUPPLIED DURING THIS WORK, THE MANIPULATOR MAY MOVE ERRONEOUSLY CAUSING A HAZARDOUS SITUATION. 1) The XC series robots are equipped with user wires and air tubes in the machine harness.
  • Page 55 CHAPTER 3 Installation 3) Signal wiring connections in the machine harness 1. R6YXCH250, R6YXCH350, R6YXCH400 Connector pins 1 to 14 can be used. Pin 15 is connected to a shield wire and cannot be used as a signal wire. Signal Connector Connection Connector...
  • Page 56 CHAPTER 3 Installation 4) As shown in Fig. 3-9, solder the user cable wires to the D-sub connector (supplied with the robot). Reattach the hood to the D-sub connector after soldering, then plug it into the user wiring connector. The connector pinouts as viewed from the solder side are shown below. Hood Soldering Cable to be...
  • Page 57 CHAPTER 3 Installation WARNING MAKE SURE THAT THE USER CABLE ATTACHED TO THE D-SUB CONNECTOR FOR USER WIRING AND THE TUBE ATTACHED TO THE BULKHEAD UNION FOR USER TUBING WILL NOT INTERFERE WITH THE ROBOT MOVEMENT, ENTANGLE AROUND THE ROBOT OR FLAP AROUND DURING OPERATION.

  • Page 58: Attaching The End Effector

    To make settings for the tip mass and acceleration coefficient, refer to the separate “OMRON Robot Controller User’s Manual”. 3) For information on how to calculate the moment of inertia of the load, re- fer to "6-2 Equation for moment of inertia calculation" in Chapter 3 of the standard model X user's manual.
  • Page 59 CHAPTER 3 Installation CAUTION DEPENDING ON THE Z-AXIS POSITION, VIBRATION MAY OCCUR WHEN THE X, Y OR R-AXIS MOVES. IF THIS HAPPENS, REDUCE THE X, Y OR R-AXIS ACCELERATION TO AN APPROPRIATE LEVEL. CAUTION IF THE MOMENT OF INERTIA IS TOO LARGE, VIBRATION MAY OCCUR ON THE Z-AXIS DEPENDING ON ITS OPERATION POSITION.

  • Page 60: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxch250)

    CHAPTER 3 Installation 6-1-1 Acceleration coefficient vs. moment of inertia (R6YXCH250) 0.01 ( 0.1 ) Fig. 3-10 m=1kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • 0.01 ( 0.1 ) Fig. 3-11 m=2kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf •...

  • Page 61: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxch350)

    CHAPTER 3 Installation 6-1-2 Acceleration coefficient vs. moment of inertia (R6YXCH350) 0.005 ( 0.05 ) Fig. 3-13 m=1kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • 0.004 ( 0.04 ) Fig. 3-14 m=2kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf •...

  • Page 62: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxch400)

    CHAPTER 3 Installation 6-1-3 Acceleration coefficient vs. moment of inertia (R6YXCH400) Fig. 3-16 m=1kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-17 m=2kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-18 m=3kg 0.01 0.02 0.03 0.04 0.05...

  • Page 63: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxc500)

    CHAPTER 3 Installation 6-1-4 Acceleration coefficient vs. moment of inertia (R6YXC500) 0.005 ( 0.05 ) Fig. 3-19 m=1kg 0.04 0.08 0.12 (kgm (kgf • • 0.005 ( 0.05 ) Fig. 3-20 m=2kg 0.04 0.08 0.12 (kgm (kgf • • 0.005 ( 0.05 ) Fig.
  • Page 64 CHAPTER 3 Installation 0.005 ( 0.05 ) Fig. 3-22 m=4kg 0.04 0.08 0.12 (kgm (kgf • • 0.005 ( 0.05 ) Fig. 3-23 m=5kg 0.04 0.08 0.12 (kgm (kgf • • 0.007 ( 0.07 ) Fig. 3-24 m=6, 7kg 0.04 0.08 0.12 (kgm...
  • Page 65 CHAPTER 3 Installation 0.007 ( 0.07 ) Fig. 3-25 m=8, 9kg 0.04 0.08 0.12 (kgm (kgf • • 0.03 ( 0.3 ) Fig. 3-26 m=10kg 0.04 0.08 0.12 (kgm (kgf • • 3-27...

  • Page 66: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxc600)

    CHAPTER 3 Installation 6-1-5 Acceleration coefficient vs. moment of inertia (R6YXC600) 0.005(0.05) Fig. 3-27 m=1kg 0.04 0.08 0.12 (kgm (kgf • • 0.005(0.05) Fig. 3-28 m=2kg 0.04 0.08 0.12 (kgm (kgf • • 0.01(0.1) Fig. 3-29 m=3kg 0.04 0.08 0.12 (kgm (kgf •...
  • Page 67 CHAPTER 3 Installation 0.005(0.05) Fig. 3-30 m=4kg 0.04 0.08 0.12 (kgm (kgf • • 0.01(0.1) Fig. 3-31 m=5kg 0.04 0.08 0.12 (kgm (kgf • • 0.005(0.05) Fig. 3-32 m=6, 7kg 0.04 0.08 0.12 (kgm (kgf • • 3-29...
  • Page 68 CHAPTER 3 Installation 0.005(0.05) Fig. 3-33 m=8, 9kg 0.04 0.08 0.12 (kgm (kgf • • 0.015(0.15) Fig. 3-34 m=10kg 0.04 0.08 0.12 (kgm (kgf • • 3-30...

  • Page 69: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxc700)

    CHAPTER 3 Installation 6-1-6 Acceleration coefficient vs. moment of inertia (R6YXC700) 0.02(0.2) (kgm (kgf • • Fig. 3-35 m=1kg 0.01(0.1) (kgm (kgf • • Fig. 3-36 m=2kg 3-31...
  • Page 70 CHAPTER 3 Installation 0.03(0.3) (kgm (kgf • • Fig. 3-37 m=3, 4kg 0.01(0.1) (kgm (kgf • • Fig. 3-38 m=5, 6kg 3-32...
  • Page 71 CHAPTER 3 Installation 0.01(0.1) (kgm (kgf • • Fig. 3-39 m=7, 8kg 0.01(0.1) (kgm (kgf • • Fig. 3-40 m=9, 10kg 3-33...
  • Page 72 CHAPTER 3 Installation 0.01(0.1) (kgm (kgf • • Fig. 3-41 m=11 to 13kg 0.01(0.1) (kgm (kgf • • Fig. 3-42 m=14 to 16kg 3-34...
  • Page 73 CHAPTER 3 Installation 0.01(0.1) (kgm (kgf • • Fig. 3-43 m=17 to 20kg 3-35...

  • Page 74: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxc800)

    CHAPTER 3 Installation 6-1-7 Acceleration coefficient vs. moment of inertia (R6YXC800) 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-44 m=1kg 0.03 ( 0.3 ) (kgm (kgf • • Fig. 3-45 m=2kg 3-36...
  • Page 75 CHAPTER 3 Installation 0.03 ( 0.3 ) (kgm (kgf • • Fig. 3-46 m=3, 4kg 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-47 m=5, 6kg 3-37...
  • Page 76 CHAPTER 3 Installation 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-48 m=7, 8kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-49 m=9, 10kg 3-38...
  • Page 77 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-50 m=11 to 13kg 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-51 m=14 to 16kg 3-39...
  • Page 78 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-52 m=17 to 20kg 3-40...

  • Page 79: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxc1000)

    CHAPTER 3 Installation 6-1-8 Acceleration coefficient vs. moment of inertia (R6YXC1000) 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-53 m=1kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-54 m=2kg 3-41...
  • Page 80 CHAPTER 3 Installation 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-55 m=3, 4kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-56 m=5, 6kg 3-42...
  • Page 81 CHAPTER 3 Installation 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-57 m=7, 8kg 0.015 ( 0.15 ) (kgm (kgf • • Fig. 3-58 m=9, 10kg 3-43...
  • Page 82 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-59 m=11 to 13kg 0.025 ( 0.25 ) (kgm (kgf • • Fig. 3-60 m=14 to 16kg 3-44...
  • Page 83 CHAPTER 3 Installation 0.030 ( 0.30 ) (kgm (kgf • • Fig. 3-61 m=17 to 20kg 3-45...

  • Page 84: Equation For Moment Of Inertia Calculation

    CHAPTER 3 Installation Equation for moment of inertia calculation For equation for moment of inertia calculation, refer to "6-2 Equation for mo- ment of inertia calculation" in Chapter 3 of the standard model X user's manual. Example of moment of inertia calculation For example of moment of inertia calculation, refer to "6-3 Example of moment of inertia calculation"...

  • Page 85: Attaching The End Effector

    CHAPTER 3 Installation Attaching the end effector WARNING BEFORE ATTACHING THE END EFFECTOR, BE SURE TO TURN OFF THE CONTROLLER. The manipulator part to which an end effector is attached must have adequate strength and rigidity, as well as gripping force to prevent positioning errors. Ta- ble 3-1 shows the maximum load that can be applied to the end effector attach- ment of each robot during operation.
  • Page 86 CHAPTER 3 Installation ∅ -0.021 M12×1.75, depth 10 R6YXC700, R6YXC800, R6YXC1000 : Z-axis tip shape Fig. 3-63 Table 3-1 Mmax Robot Model kgfm kgfm R6YXCH250 R6YXCH350 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 3-48...
  • Page 87 CHAPTER 3 Installation End effector Stay Mmax Fzmax Fig. 3-64 Maximum load applied to end effector attachment Table 3-2 Tightening torque Number of Hole diameter(mm) Robot Model Bolts Used bolts kgf · cm +0.018 R6YXCH250 M4 or lager 2 or more +0.018 R6YXCH350 M4 or lager...
  • Page 88 CHAPTER 3 Installation WARNING THE END EFFECTOR ATTACHMENT MUST HAVE ADEQUATE STRENGTH TO WITHSTAND THE LOADS LISTED IN TABLE 3-1. IF TOO WEAK, THE ATTACHMENT MAY BREAK DURING ROBOT OPERATION AND FRAGMENTS FLY OFF CAUSING ACCIDENTS OR INJURIES. WARNING THE END EFFECTOR ATTACHMENT MUST HAVE SUFFICIENT RIGIDITY VERSUS THE LOADS LISTED IN TABLE 3-1.

  • Page 89: Gripping Force Of End Effector

    CHAPTER 3 Installation Gripping force of end effector The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the work- piece during robot operation. The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment.

  • Page 90: Limiting The Movement Range With X-Axis Mechanical Stoppers (Excluding R6Yxch250, R6Yxch350, R6Yxch400)

    CHAPTER 3 Installation Limiting the Movement Range with X-Axis Mechanical Stoppers (Excluding R6YXCH250, R6YXCH350, R6YXCH400) In the XC series (excluding R6YXCH250, R6YXCH350, R6YXCH400), the movement range can be limited by changing the X-axis mechanical stopper positions. (The Y-axis mechanical stopper positions are fixed and cannot be changed.) When the robot is shipped from the factory, the movement range is set to the maximum.
  • Page 91 CHAPTER 3 Installation 7) Go outside the safeguard enclosure. 8) Check that no one is inside the safeguard enclosure when turning on the controller. Table 3-4 Robot Model Tightening torque(kgf·cm) Tightening torque(N·m) Bolt size R6YXC500, R6YXC600 15.3 R6YXC700, R6YXC800, R6YXC1000 37.2 3-53...
  • Page 92 CHAPTER 3 Installation Y-axis Mechanical stopper(fixation) Tapped hole for stopper installation X-axis Mechanical stopper Fig. 3-67 Mechanical stopper positions and movement range (R6YXC500, R6YXC600) Y-axis Mechanical stopper(fixation) Tapped hole for stopper installation X-axis Mechanical stopper Fig. 3-68 Mechanical stopper positions and movement range (R6YXC700, R6YXC800, R6YXC1000) 3-54...

  • Page 93: Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope

    CHAPTER 3 Installation Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope Working envelope of each robot and mechanical stopper positions for the maxi- mum working envelope are shown in Fig. 3-69 to Fig. 3-76. Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper position...
  • Page 94 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper position R6YXCH350 (Z-axis mechanical stopper position) Interference position (a) Base ange (b) Base rear side 128° 98° Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.3-70 R6YXCH350 3-56...
  • Page 95 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper position R6YXCH400 (Z-axis mechanical stopper position) Manipulator interference area Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.3-71 R6YXCH400 3-57...
  • Page 96 CHAPTER 3 Installation Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 Z-axis upper end mechanical stopper position 223±2 Z-axis lower end mechanical stopper position R6YXC500 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base X and Y-axis mechanical stopper positions (maximum working envelope) Working envelope Fig.3-72 R6YXC500...
  • Page 97 CHAPTER 3 Installation Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 Z-axis upper end mechanical stopper position 223±2 Z-axis lower end mechanical stopper position R6YXC600 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.3-73 R6YXC600...
  • Page 98 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position R6YXC700 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base X and Y-axis mechanical stopper positions (maximum working envelope) Working envelope Fig.3-74 R6YXC700...
  • Page 99 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position R6YXC800 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.3-75 R6YXC800...
  • Page 100 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position R6YXC1000 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.3-76 R6YXC1000...
  • Page 101 CHAPTER 3 Installation Here, robot working envelope and mechanical stopper positions for the maxi- mum working envelope are described using the R6YXC500 as an example. Refer to Fig. 3-72 for the R6YXC500. Other robot models are the same. 1) X and Y axes 1.
  • Page 102 CHAPTER 3 Installation 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 account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.
  • Page 103 CHAPTER Adjustment 1 Overview ....................4-1 2 Safety Precautions ................4-1 3 Adjusting the origin ................4-2 Absolute reset method................... 4-2 Machine reference ..................4-2 Absolute reset procedures ................4-2 Changing the origin position and adjusting the machine reference ....4-2 3-4-1 Sensor method ..................... 4-2 3-4-2 Mark method ....................

  • Page 105: Chapter 4 Adjustment

    CHAPTER 4 Adjustment Overview OMRON robots have been completely adjusted at the factory or sales repre- sentative before shipment, including the Z-axis origin position adjustment. However, when the operating conditions are changed and adjustment of the robot becomes necessary, follow the procedure described in this chapter.

  • Page 106: Adjusting The Origin

    CHAPTER 4 Adjustment Adjusting the origin Absolute reset method For information on absolute reset method, refer to "3 Adjusting the origin" in Chapter 4 of the standard model X user's manual. Machine reference For information on machine reference, refer to "3 Adjusting the origin" in Chapter 4 of the standard model X user's manual.

  • Page 107: Stroke End Method

    CHAPTER 4 Adjustment 3-4-3 Stroke end method The stroke end method is employed on the XC series robots for the absolute reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed.
  • Page 108 CHAPTER 4 Adjustment 9) Adjust the distance (L) between the Z-axis mechanical stopper and the axis end so it is set to the value shown in Table 4-1. Then tighten the four bolts to reassemble the Z-axis motor. (See Fig. 4-4.) At this point, do not allow the spline shaft position to shift from the correct height.
  • Page 109 CHAPTER 4 Adjustment Z-axis motor Z-axis motor installation bolt M3×6 Fig. 4-1 R6YXCH250, R6YXCH350, R6YXCH400 Z-axis motor Z-axis motor installation bolt M5×14 Fig. 4-2 R6YXC500, R6YXC600 Y-axis motor Z-axis motor installation bolt M5×12 Fig. 4-3 R6YXC700, R6YXC800, R6YXC1000 Z-axis mechanical stopper Fig.

  • Page 110: Setting The Soft Limits

    2) Press the emergency stop button on the PB to set emergency stop. Refer to the “OMRON Robot Controller User’s Manual” for further details on emergency stop and canceling emergency stop. 3) Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
  • Page 111 CHAPTER 4 Adjustment (2) Setting the Z-axis soft limits Make this setting from outside the safeguard enclosure. The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual working range of the robot is smaller than the maximum working envelope or the manipulator interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.

  • Page 112: Setting The Standard Coordinates

    5) Make the standard coordinate settings while referring to methods for “Set- ting the Standard Coordinates” as explained in the “OMRON Robot Controller User’s Manual”. Never enter within the robot movement range. 6) When the standard coordinate settings are complete, check the following points from outside the safeguard enclosure.

  • Page 113: Affixing Stickers For Origin Positions, Movement Directions And Axis Names

    2) Move the robot to the 0 pulse position. To move the axes to their “0” pulse positions, see “Chapter 4 Point trace function” in the “OMRON Robot Controller User’s Manual”. 3) Turn off the controller. 4) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch.
  • Page 114 CHAPTER 4 Adjustment End effector Fig. 4-6 Positions for affixing the stickers (R6YXC500) 4-10...

  • Page 115: Removing The Robot Covers

    CHAPTER 4 Adjustment Removing the Robot Covers To remove the robot cover, follow the procedure below. 1) Prepare the necessary tools. • Hex wrench set • Phillips-head screwdriver 2) Turn off the controller. 3) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch.
  • Page 116 CHAPTER 4 Adjustment e M3×6 (with washer) Y-axis upper cover Base rear cover M4×6 w M4×6 q Base front cover r M3×10 t M3×16 Fig. 4-7 4-12...
  • Page 117 CHAPTER 4 Adjustment t M3×6 (with washer) r M4×6 Y-axis upper cover X-axis upper cover e M4×6 Base rear cover 1 q M4×6 Base rear cover 2 w M4×6 Y-axis under cover Base front cover X-axis under cover y M3×50 u M4×6 i M4×6 Fig.
  • Page 118 CHAPTER 4 Adjustment r M4×6 t M3×6 (with washer) Y-axis upper cover X-axis upper cover e M4×6 Base rear cover 1 q M4×6 Base rear cover 2 Y-axis under cover w M4×6 X-axis under cover Base front cover y M3×50 u M4×6 Fig.

  • Page 119: Adjusting The Timing Belt Tension

    CHAPTER 4 Adjustment Adjusting the Timing Belt Tension The XC series robots use a timing belt for controlling the movement of the Z and R axes. If the belt becomes slack, use the following procedure to give proper tension to the belt. WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF...

  • Page 120: Adjusting The Belt Tension R6Yxch250, R6Yxch350, R6Yxch400

    CHAPTER 4 Adjustment Adjusting the belt tension R6YXCH250, R6YXCH350, R6YXCH400 WARNING IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE BEGINNING ADJUSTMENT.
  • Page 121 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt 2 shown in Fig. 4-12. 2. If the load producing the slack specified in Table 4-6 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 122: Adjusting The Belt Tension (R6Yxc500, R6Yxc600)

    CHAPTER 4 Adjustment Adjusting the belt tension (R6YXC500, R6YXC600) WARNING IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE BEGINNING ADJUSTMENT.
  • Page 123 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt 2 shown in Fig. 4-13. 2. If the load producing the slack specified in Table 4-6 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 124: Adjusting The Belt Tension (R6Yxc700,R6Yxc800,R6Yxc1000)

    CHAPTER 4 Adjustment Adjusting the belt tension (R6YXC700,R6YXC800,R6YXC1000) WARNING IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE BEGINNING ADJUSTMENT. Adjust the Z-axis and R-axis timing belts of the R6YXC700, R6YXC800 and R6YXC1000 with the procedure below.
  • Page 125 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt 2 shown in Fig. 4-14. 2. If the load producing the slack specified in Table 4-6 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.
  • Page 126 CHAPTER 4 Adjustment Table 4-5 Z-axis belt specifications Robot model Load (N) Load (kgf) Slack (mm) R6YXCH250, R6YXCH350 2.3 to 2.5 0.23 to 0.26 2.3 to 2.5 0.23 to 0.26 R6YXCH400 5.7 to 6.3 0.58 to 0.64 R6YXC500, R6YXC600 5.7 to 6.3 0.58 to 0.64 R6YXC700, R6YXC800 5.7 to 6.3...
  • Page 127 CHAPTER Periodic Inspecition 1 Overview ....................5-1 2 Precautions ..................5-2 3 Daily Inspection .................5-3 4 Six-Month Inspection .................5-5 5 Replacing the Harmonic Drive ............5-8 Replacement period ..................5-8 Basic replacement procedure for harmonic drive and precautions ....5-9 5-2-1 R6YXCH250, R6YXCH350, R6YXCH400 ..........5-11 5-2-2 R6YXC500, R6YXC600 ................

  • Page 129: Chapter 5 Periodic Inspecition

    CHAPTER 5 Periodic Inspection Overview Daily and periodic inspection of the OMRON robot is essential in order to ensure safe and efficient operation. This chapter describes the periodic inspec- tion items and procedures for the OMRON XC series robots. Periodic inspection includes: •...

  • Page 130: Precautions

    CHAPTER 5 Periodic Inspection Precautions (1) Periodic inspection must be performed by or in the presence of personnel who have received the Robot Training given by OMRON or OMRON dealers. (2) Do not attempt any inspection, adjustment, repair and parts replacement not described in this manual.

  • Page 131: Daily Inspection

    Checkpoint Procedure Machine harness Check for scratches, dents and excessive bend and kinks. Robot cable (If the machine harness or robot cable is damaged, contact OMRON User cable and wiring dealer.) Check air pressure. Regulator, joints, air tube, Check for air leaks.
  • Page 132 (1) and (2) above. 2) If repair or parts replacement is required for the robot or controller, please contact your OMRON dealer. This work requires specialized technical knowledge and skill, so do not attempt it by yourself.

  • Page 133: Six-Month Inspection

    CHAPTER 5 Periodic Inspection Six-Month Inspection Take the following precautions when performing 6-month inspection. WARNING INJURY CAN OCCUR IF HANDS OR FINGERS ARE SQUEEZED BETWEEN THE DRIVE PULLEY AND BELT. ALWAYS TURN OFF THE CONTROLLER AND USE CAUTION WHEN HANDLING THESE PARTS. WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS RELEASED, CAUSING A HAZARDOUS SITUATION.
  • Page 134 CONTAINER. THIS MIGHT CAUSE THE CONTAINER TO EXPLODE AND THE REMAINING MATERIALS INSIDE IT TO IGNITE. CAUTION UNLESS GREASE SPECIFIED BY OMRON IS USED, THE SERVICE LIFE OF THE BALL SCREW, BALL SPLINE AND LINEAR BUSHING SHAFT WILL SHORTEN. CAUTION HOW TO KEEP GREASE: •...
  • Page 135 • Check for abnormal noise from the rotating fan. If • Cooling fan at rear of controller abnormal noise is heard, visually check and remove the cause. If no cause is found, contact OMRON dealer. • Check for dust on the fan cover. Remove and clean if necessary.

  • Page 136: Replacing The Harmonic Drive

    CHAPTER 5 Periodic Inspection Replacing the Harmonic Drive The XC series robots use a harmonic drive as the speed reduction gear for the X, Y and R axes. Harmonic drives need to be replaced after a specified operation time. Use the guideline explained below to determine the replacement period and replace the harmonic drive periodically.

  • Page 137: Basic Replacement Procedure For Harmonic Drive And Precautions

    CHAPTER 5 Periodic Inspection Basic replacement procedure for harmonic drive and precautions Basic procedures and precautions for replacing the harmonic drive are described below. Before beginning the replacement work, always be sure to read these replacement procedures and caution. WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF THESE ARE TOUCHED.
  • Page 138 DAMAGED RESULTING IN A HAZARDOUS SITUATION OF THE ROBOT TROUBLE. CAUTION THE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE GREASE RECOMMENDED BY OMRON IS NOT USED. Recommended grease Use the following harmonic drive grease. 4B No.2 (made by Harmonic Drive Systems Inc.)

  • Page 139: R6Yxch250, R6Yxch350, R6Yxch400

    • Hex wrench set • Screw Lock (thread sealant) • Ratchet handle • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic SHF-20-50 KN3-M2110-001 S71(JIS)
  • Page 140 CHAPTER 5 Periodic Inspection 6) Remove the X-axis arm installation bolts (M3×40L, 8 pieces). (See Fig. 5-1.) M3×40 M6×14 Fig. 5-1 CAUTION AN O-RING IS FITTED TO THE X-AXIS ARM, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-2.) O-ring (S71 : KN3-M2159-000) Fig.
  • Page 141 CHAPTER 5 Periodic Inspection 8) Remove the base assembly bolts (M6×14L, 6 pieces) to separate base 1 and base 2. (See Fig. 5-1 and Fig. 5-3.) M6×14 Base 1 M5×12 Base 2 Fig. 5-3 9) Remove the bolts (M5×12L, 4 pieces) securing the motor and remove the motor from base 1.
  • Page 142 CHAPTER 5 Periodic Inspection 10) Remove the wave generator from the motor shaft. The wave generator is secured with an M3 set screw. (See Fig. 5-6.) 11) Remove the X-axis harmonic drive installation bolts (M3×20L, 16 pieces). (See Fig. 5-5.) M3×20 Fig.
  • Page 143 CHAPTER 5 Periodic Inspection 14) Apply harmonic grease to the new wave generator and flexible spline. See Fig. 5-6 for applying grease properly. Fit O-ring (supplied) into this groove Harmonic drive willl be damaged if O-ring is caught out of groove. O-ring : KN3-M2144-000 M3 set screw Apply grease to entire oldham coupling.
  • Page 144 CHAPTER 5 Periodic Inspection 20) Reattach the base (robot pedestal) front and rear covers. 21) Go outside the safeguard enclosure. 22) Check that no one is inside the safeguard enclosure, and then turn on the control- ler. CAUTION AFTER THE HARMONIC DRIVE IS REPLACED, AN ABSOLUTE RESET MUST BE PERFORMED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET.
  • Page 145 • Waste cloth (rag) • Phillips-head screwdriver • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No. Note Harmonic drive SHF-17-50 KN3-M2510-001 S63(JIS)
  • Page 146 CHAPTER 5 Periodic Inspection 6) Remove the Y-axis arm installation bolts (M3×20L, 8 pieces). (See Fig. 5-7.) M3×20 Fig. 5-7 7) Remove the Y-axis arm and place it where it will not obstruct the work. CAUTION AN O-RING IS FITTED TO THE UPPER SURFACE OF THE HARMONIC DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
  • Page 147 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE FLANGE, SO BE CAREFUL NOT TO DROP IT INTO PERIPHERAL UNITS. (SEE FIG. 5-9.) O-ring (S63: KN3-M2519-000) Fig. 5-9 11) Remove the four bolts temporarily tightened to the new harmonic drive. CAUTION REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG.
  • Page 148 CHAPTER 5 Periodic Inspection 16) Fit the wave generator onto the motor shaft and fully insert it against the motor. Then, apply small amounts of “Screw Lock” to the M3 set screw (2 piece) you removed earlier and tighten it to secure the wave generator. (See Fig.
  • Page 149 • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Adjustable wrench • Replacement parts (See table below.) Replacement parts Parts name Type No . OMRON Parts No. Note Harmonic drive SHF-14-50 KN3-M1821-001 Lower part of harmonic drive. S53(JIS) KN3-M1895-000 Upper part of bellows.
  • Page 150 CHAPTER 5 Periodic Inspection WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE U-NUT IS REMOVED IN THE NEXT STEP, CAUSING A HAZARDOUS SITUATION. PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE LOOSENING THE U-NUT. 7) While placing a steel rod or similar tool through the 5mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the wrench, and remove the bearing.
  • Page 151 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-14.) O-ring (S53 : KN3-M1895-000) Fig. 5-14 9) Remove the bolts (M3×6L, 3 pieces) securing the R-axis motor plate at the top of the Y-axis arm.
  • Page 152 CHAPTER 5 Periodic Inspection 12) Remove the retaining ring for the wave generator and pull out the wave generator from the bottom of the Y-axis arm. (See Fig. 5-16.) 13) Apply harmonic grease to the new wave generator. See Fig. 5-16 for applying grease properly.
  • Page 153 CHAPTER 5 Periodic Inspection 18) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive. Apply small amounts of “Screw Lock” to the bolts (M3×18L, 8 pieces) and tighten them to secure the harmonic drive to the Y-axis arm from the top of the Y-axis arm.
  • Page 154 CHAPTER 5 Periodic Inspection 22) Insert the spline into the holder, fit the bearing onto the spline and tighten the U-nut to secure the baring. (Utilize the φ5 through-hole when tightening the U-nut like you did to loosen it.) (See Fig. 5-11 and Fig. 5-12.) 23) Attach the bearing mount plate to the holder and fasten them with the bolts you removed earlier (M4×8L, 4 pieces).

  • Page 155: R6Yxc500, R6Yxc600

    • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No . YAMAHA Parts No . Note OMRON Parts No. Harmonic SHF-25-80 KN4-M2110-001 S90(JIS) KN4-M2143-000 Top of harmonic drive Rubber wire diameter 1.78mm x Ring inner diameter 85.00mm Rubber wire diameter 1.78mm ´...
  • Page 156 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the motor holder by using the ratchet handle, M6 hexagonal socket, socket adapter and extension bar. (See Fig. 5-18.) M6×14 M6×20 Fig. 5-18 8) With the motor still attached to the motor holder, pull out the motor by swaying it gently right and left.
  • Page 157 CHAPTER 5 Periodic Inspection WARNING WHEN YOU REMOVE THE X-AXIS ARM INSTALLATION BOLTS (M4×40L, 8 PIECES) IN THE NEXT STEP, THE X-AXIS ARM MAY COME OFF CAUSING A HAZARDOUS SITUATION. BE ESPECIALLY CAREFUL TO KEEP THE ARM FROM FALLING WHEN A HEAVY TOOL IS ATTACHED TO THE ARM TIP.
  • Page 158 CHAPTER 5 Periodic Inspection 13) Remove the bolts (M4×20L, 12 pieces) securing the X-axis harmonic drive. (See Fig. 5-21.) M4×20 Fig. 5-21 14) Remove the X-axis harmonic drive from the top of the base. CAUTION AN O-RING IS FITTED TO THE X-AXIS HARMONIC DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE BASE OR PERIPHERAL UNIT.
  • Page 159 CHAPTER 5 Periodic Inspection Fit O-ring (supplied) into this groove Harmonic drive will be damaged if O-ring is caught out of groove. O-ring : KN5-M257L-000 Apply grease to entire oldham coupling. O-ring : KN5-M2143-000 M4 set screw Spacer Wave generator Apply grease to sufficiently fill in the ball space.
  • Page 160 CHAPTER 5 Periodic Inspection 24) Go outside the safeguard enclosure. 25) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION AFTER THE HARMONIC DRIVE IS REPLACED, AN ABSOLUTE RESET MUST BE PERFORMED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET.
  • Page 161 • Waste cloth (rag) • Phillips-head screwdriver • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic drive SHF-20-80 KN4-M2510-001 Rubber wire diameter 1.78mm x Ring inner diameter 72.75mm KN4-M257K-000...
  • Page 162 CHAPTER 5 Periodic Inspection 8) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screws. (See Fig. 5-27.) WARNING WHEN YOU REMOVE THE Y-AXIS ARM INSTALLATION BOLTS (M3×20L, 12 PIECES) IN THE NEXT STEP, THE Y-AXIS ARM MAY COME OFF CAUSING A HAZARDOUS SITUATION.
  • Page 163 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE UPPER SURFACE OF THE X-AXIS, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-26.) O-ring (KN4-M257K-000) Fig. 5-26 13) Fit a new O-ring coated with harmonic grease into the O-ring groove on the X-axis arm.
  • Page 164 CHAPTER 5 Periodic Inspection 18) Fit the wave generator onto the motor shaft, and fully insert it against the motor. Then, apply small amounts of “Screw Lock” to the M4 set screw (1 piece) you removed earlier and tighten it to secure the wave generator. (See Fig.
  • Page 165 • Hook wrench • Replacement parts (See table below.) Replacement parts Parts name Type No . YAMAHA Parts No . OMRON Parts No. Note Harmonic drive SHF-17-50 KN4-M1821-000 Lower part of harmonic drive Rubber wire diameter 1.78mm ´ Ring inner diameter 63.22mm KN4-M1896-000 Rubber wire diameter 1.78mm x Ring inner diameter 63.22mm...
  • Page 166 CHAPTER 5 Periodic Inspection 7) While placing a steel rod or similar tool through the 7mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the wrench, and remove the bearing and bearing mount plate. (See Fig.
  • Page 167 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-31.) O-ring : KN4-M1896-000 Fig. 5-31 9) Remove the bolts (M4×10L, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm.
  • Page 168 CHAPTER 5 Periodic Inspection 13) Apply harmonic grease to the new wave generator. See Fig. 5-33 for applying grease properly. Wave generator Retaining ring groove Apply grease to sufficiently fill in the ball space. Fit O-ring (supplied) into this groove Harmonic drive will be damaged if O-ring is Apply grease to entire oldham coupling.
  • Page 169 CHAPTER 5 Periodic Inspection 18) Apply small amounts of “Screw Lock” to the M4 set screws (2 pieces) and tighten them to secure the pulley to the wave generator. (See Fig. 5-32.) 19) Fit the timing belt onto the wave generator pulley and motor pulley, and then secure the motor plate.

  • Page 170: R6Yxc700, R6Yxc800, R6Yxc1000

    • Screw Lock (thread sealant) • Ratchet handle • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No . OMRON Parts No. Note R6YXC700, R6YXC800 SHF-32-80 KN5-M2110-001 Harmonic drive SHF-32-100 KN5-M2110-101 R6YXC1000...
  • Page 171 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the motor by using the ratchet handle, M6 hexagonal socket, socket adapter and extension bar. (See Fig. 5-35.) M5×25 M6×20 Spacer Fig. 5-35 8) Slowly pull out the motor while holding it slantways. (See Fig. 5-36.) If it is difficult to remove the motor, slowly rotate the X-axis arm and again try removing the motor.
  • Page 172 CHAPTER 5 Periodic Inspection 9) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screw and keyway. (See Fig. 5-40.) WARNING WHEN YOU REMOVE THE X-AXIS ARM INSTALLATION BOLTS (M5×55L, 8 PIECES) IN THE NEXT STEP, THE X-AXIS ARM MAY COME OFF CAUSING A HAZARDOUS SITUATION.
  • Page 173 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE X-AXIS ARM, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-38.) O-ring (S115 : KN5-M2159-000) Fig. 5-38 12) Remove the bolts (M5×25L 8 pieces and M5×35L 8 pieces) securing the X-axis harmonic drive.
  • Page 174 CHAPTER 5 Periodic Inspection 14) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive. (See Fig. 5-40.) Apply small amounts of “Screw Lock” to the bolts (M5×25L 8 pieces and M5×35L 8 pieces) and tighten them to secure the harmonic drive from the backside of the base.
  • Page 175 CHAPTER 5 Periodic Inspection 17) Fit the wave generator onto the motor shaft, and fully insert it against the motor. Then, apply small amounts of “Screw Lock” to the M4 set screw (1 piece) you removed earlier and tighten it to secure the wave generator onto the motor shaft.
  • Page 176 CHAPTER 5 Periodic Inspection 21) Reattach the base (robot pedestal) front and rear covers and the X-axis arm upper cover. 22) Go outside the safeguard enclosure. 23) Check that no one is inside the safeguard enclosure, and then turn on the controller.
  • Page 177 • Waste cloth (rag) • Phillips-head screwdriver • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic drive SHF-25-80 KN4-M2110-001...
  • Page 178 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE MOTOR, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. 8) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screws. (See Fig. 5-45.) CAUTION WHEN YOU REMOVE THE Y-AXIS ARM INSTALLATION BOLTS (M4×20L, 16 PIECES) IN THE NEXT STEP, THE Y-AXIS ARM MAY COME OFF...
  • Page 179 CHAPTER 5 Periodic Inspection 11) Remove the Y-axis harmonic drive installation bolts (M4×45L, 8 pieces). (See Fig. 5-43.) M4×45 Fig. 5-43 12) Remove the Y-axis harmonic drive from the top of the X-axis arm. CAUTION AN O-RING IS FITTED TO THE UPPER SURFACE OF THE X-AXIS, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
  • Page 180 CHAPTER 5 Periodic Inspection CAUTION DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE DURING REASSEMBLY. A TROUBLE WILL OCCUR IF THE ROBOT IS OPERATED WITH THE O-RING LEFT CAUGHT OUT OF THE GROOVE. 15) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive.
  • Page 181 CHAPTER 5 Periodic Inspection 19) Fit a new O-ring to the motor and tighten the bolts (M6×20L, 4 pieces) you removed earlier to temporarily secure the motor to the Y-axis arm. (See Fig. 5-41.) Insert a new O-ring between the spacer and the Y-axis arm at this point. CAUTION DO NOT ALLOW THE O-RING TO GET CAUGHT OUT OF THE GROOVE DURING REASSEMBLY.
  • Page 182 • Phillips-head screwdriver • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Hook wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic drive SHF-20-50 KN5-M1821-001 S63(JIS)
  • Page 183 CHAPTER 5 Periodic Inspection 7) While placing a steel rod or similar tool through the 8mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the hook wrench, and remove the bearing and bearing mount plate. (See Fig.
  • Page 184 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-49.) O-ring : KN3-M2159-000 Fig. 5-49 9) Remove the bolts (M4×15L, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm.
  • Page 185 CHAPTER 5 Periodic Inspection 13) Apply harmonic grease to the new wave generator. See Fig. 5-51 for applying grease properly. Retaining ring groove Wave generator Apply grease to sufficiently fill in the ball space. Apply grease to entire oldham coupling. Fit O-ring (supplied) into this groove Harmonic drive will be damaged if O-ring is Apply grease to the thickness equal to the...
  • Page 186 CHAPTER 5 Periodic Inspection 19) Fit a new O-ring into the O-ring groove on the fastening plate and also replace the edge seal with new one. Then secure the fastening plate to the harmonic drive with the bolts (M3×30L, 8 pieces) you removed earlier. (See Fig.

  • Page 187: Replacing The Bellows

    CHAPTER 5 Periodic Inspection Replacing the bellows The XC series robots use bellows to prevent dust generation from the spline shaft. If the bellows are broken, replace them as explained below. For bolt tightening torque in this work, see Table 5-2. Perform the replacement work while referring to Table 5-3 and Fig.
  • Page 188 CHAPTER 5 Periodic Inspection CAUTION USE CAUTION NOT TO LET O-RINGS TO PROTRUDE FROM THEIR GROOVES AND BE PINCHED. IF THE ROBOT IS OPERATED WHILE AN O-RING IS STILL PINCHED, THE CLEANLINESS DEGREE MAY DEGRADE. 11) Attach the clamp plate to the top of the bellows. 12) Fit O-rings 4, 10, 16 into the O-ring grooves on the robot body.
  • Page 189 CHAPTER 5 Periodic Inspection R6YXCH250, R6YXCH350, R6YXCH400 R6YXC500, R6YXC600 R6YXC700, R6YXC800, R6YXC1000 Fig. 5-53 5-61...
  • Page 191 CHAPTER Specifications 1 Manipulator ..................6-1 Basic specification ..................6-1 Robot inner wiring diagram ................6-4 Wiring table ....................6-6...

  • Page 193: Chapter 6 Specifications

    CHAPTER 6 Specifications Manipulator Basic specification Robot model R6YXCH250 R6YXCH350 R6YXCH400 Arm length 125mm 225mm 225mm X-axis Rotation angle ±115º ±115º ±115º Axis Arm length 125mm 125mm 175mm speci - Y -axis Rotation angle ±130º ±128º ±143º cations Z-axis Stroke 150mm 150mm 150mm...
  • Page 194 CHAPTER 6 Specifications Robot model R6YXC500 R6YXC600 Arm length 250mm 350mm X-axis Rotation angle ±120º ±120º Axis Arm length 250mm 250mm Y -axis speci - Rotation angle ±142º ±145º cations Z-axis Stroke 200, 300mm 200, 300mm R-axis Rotation angle ±180º ±180º...
  • Page 195 CHAPTER 6 Specifications Robot Model R6YXC700 R6YXC800 R6YXC1000 350mm 450mm 550mm Arm length X-axis ±120º ±120º ±120º Rotation angle 350mm 350mm 450mm Axis Arm length Y -axis ±145º ±145º ±145º specifi- Rotation angle Z-axis 200, 400mm 200, 400mm 200, 400mm cations Stroke R-axis...

  • Page 196: Robot Inner Wiring Diagram

    CHAPTER 6 Specifications Robot inner wiring diagram Machine harness User IO connector User tubing RORG RORG YORG YORG Y-axis resolver Y-axis motor Round terminal Z-axis resolver Z-axis motor R-axis resolver Y-axis arm Z-axis brake R-axis motor X-axis arm X-axis origin sensor X-axis motor User tubing X-axis resolver...
  • Page 197 CHAPTER 6 Specifications Machine harness User IO connector User tubing RORG RORG YORG YORG R-axis resolver R-axis motor Round terminal Z-axis resolver Z-axis motor Y-axis resolver Z-axis brake Y-axis motor X-axis origin sensor Y-axis arm R-axis origin sensor Y-axis origin sensor X-axis arm X-axis motor X-axis resolver...

  • Page 198: Wiring Table

    CHAPTER 6 Specifications Wiring table Robot cable wiring table Signal Connector No Connection Connector Color Wire Resolver 0.15sq Blue Twisted pair Orange 0.15sq Green Twisted pair Brown 0.15sq Gray Twisted pair 0.3sq Green Resolver 0.15sq Black Twisted pair Yellow 0.15sq Pink Twisted pair Purple 0.15sq White...
  • Page 199 CHAPTER 6 Specifications Signal Connector Connection No Connector Color Wire Resolver 0.15sq Blue Twisted pair Orange 0.15sq Green Twisted pair Brown 0.15sq Gray Twisted pair 0.3sq Green 0.15sq Brake Black Twisted pair Yellow 0.15sq Pink Twisted pair Purple Resolver 0.15sq White Twisted pair Blue/Red...
  • Page 200 CHAPTER 6 Specifications Machine harness wiring table YK250XC(H), YK350XC(H), YK400XC(H) Y-axis arm side Base side Connection No Connector Color Signal Connector Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Green Shield Z-axis Resolver Brown 0.2mm Twisted pair Black...
  • Page 201 CHAPTER 6 Specifications Machine harness wiring table YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC Y-axis arm side Base side Connection No Connector Color Signal Connector Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Green Shield Brown Z-axis Resolver 0.2mm Twisted pair...
  • Page 202 CHAPTER 6 Specifications Motor wiring table YK250XC(H), YK350XC(H), YK400XC(H), YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC Signal Color Connection Connector Yellow Blue Black XP,YP,ZP,RP Resolver White Green SHIELD Black White XM, YM, ZM, RM Motor Black Yellow Round terminal Green Yellow ZBK (Z-axis motor only) Brake Yellow Origin sensor wiring table...
  • Page 203 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I144E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous revision. Revision code Date Revised content...

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