Robot Manipulator - Omron SCARA R6Y-XC Series User Manual

CHAPTER 2 Functions
1

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.
The (+) and (-) signs show the direction of axis movement when the jog keys
on the programming box are pressed (standard setting at the factory). Fig. 2-2
to Fig. 2-4 on the subsequent pages show part names and functions of each
robot model.
X-axis arm
Y-axis
(＋)
(−)
(−) (＋)
X-axis
(−)
Y-axis arm
Z-axis
(＋)
(−) (＋)
R-axis
Fig. 2-1 Manipulator movement
2-1