Omron SCARA R6Y XE Series Installation Manual
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Omron SCARA R6Y XE Series Installation Manual

Omron SCARA R6Y XE Series Installation Manual

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  • Page 3: Table Of Contents

    CONTENTS XE series Installation Manual Warranty Chapter 1 Introduction 1. Introduction 1.1 Available manuals 1.2 Signal symbols 2. Before using the robot (Be sure to read the following notes.) Chapter 2 Functions 1. Robot manipulator 1.1 Manipulator movement 1.2 Part names 2.
  • Page 4 CONTENTS XE series Installation Manual 6.1.2 Relevant parameters 3-14 6.1.3 Confirmation after setting the parameters 3-15 6.2 Acceleration coefficient vs. moment of inertia 3-16 6.2.1 R-axis tolerable moment of inertia and acceleration coefficient 3-16 6.2.2 Parameter setting according to R-axis moment of inertial of load 3-16 6.3 Equation for moment of inertia calculation 3-17...
  • Page 5 CONTENTS XE series Installation Manual Chapter 4 Robot settings 1. Overview 2. Adjusting the origin 2.1 Return-to-origin method 2.1.1 Stroke end method R6YXE400 2.1.2 Mark method R6YXE400 2.1.3 Sensor method (X-axis, Y-axis) 2.2 Machine reference 2.3 Return-to-origin procedures 2.3.1 Stroke end method R6YXE400 2.3.2 Sensor method (X-axis, Y-axis) 2.4 Adjusting the machine reference value...
  • Page 6 CONTENTS XE series Installation Manual Chapter 6 Harmonic drive replacement period 1. Overview 2. Replacement period Chapter 7 Increasing the robot operating speed 1. Increasing the robot operating speed 1.1 Increasing speed by arch motion 1.2 Increasing the speed with the WEIGHT statement 1.3 Increasing the speed by the tolerance parameter 1.4 Increasing the speed by the OUT effective position parameter Chapter 8 Torque limit designated Z-axis pushing action...

  • Page 7: Warranty

    OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER 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 9: Chapter 1 Introduction

    Chapter 1 Introduction Contents 1. Introduction Available manuals Signal symbols 2. Before using the robot (Be sure to read the following notes.) 1-3...

  • Page 11: Available Manuals

    Introduction The OMRON XE series robots are SCARA type industrial robots developed based on years of OMRON experience and achievements in the automation field as well as efforts to streamline our in-house manufacturing systems. The XE series robots have a two-joint manipulator consisting of an X-axis arm and a Y-axis arm, and are further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator.

  • Page 12: Signal Symbols

    Signal symbols The following safety alert symbols and signal words are used to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure to understand the meaning of each symbol and signal word and then read this manual. DANGER This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.

  • Page 13: Before Using The Robot (Be Sure To Read The Following Notes.)

    Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this OMRON XE series SCARA robot. NOTE In the YRCX controller, axis names are called using numeric values, like axis-1, axis-2, axis-3, and so on. In this manual, axis names are called using alphabetic characters, like X-axis, Y-axis, Z-axis, and so on.
  • Page 14 To set the standard coordinates with high accuracy, refer to "4. Setting the standard coordinates" in Chapter 3 of this manual and "Setting the Standard Coordinates" in the "OMRON Robot Controller User's Manual". If the standard coordinate settings are incorrect, robot malfunctions (vibration, excessive noise) may occur.
  • Page 15 Set the standard coordinates while referring to instructions in "4. Setting the standard coordinates" in Chapter 3 of this manual and also to "Setting the Standard coordinates" in the "OMRON Robot Controller User's Manual". Robot malfunctions (vibration, noise) may occur if the standard coordinates are not set correctly.

  • Page 17: Chapter 2 Functions

    Chapter 2 Functions Contents 1. Robot manipulator Manipulator movement Part names 2. Robot controller 3. Robot initialization number list...

  • Page 19: Robot Manipulator

    Robot manipulator Manipulator movement The XE 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 XE series robots can move as shown in the Fig. below.

  • Page 20: Part Names

    User tubing 2 (φ4 red) stopper User tubing 3 (φ4 blue) X-axis motor M4 ground terminal Z-axis spline X-axis mechanical stopper Standard type Tapped hole for user 23102-FV-01 * OMRON Part Nos. PARTS NAME PARTS NO. LABEL,SERIAL NUMBER 90K43-000100 LABEL,DANGER 90K41-001470 LABEL,WARNING 90K41-001460 LABEL,WARNING...

  • Page 21: Robot Controller

    Robot controller The XE series robot comes supplied with a robot controller YRCX. For more details, refer to the separate "OMRON Robot Controller User's Manual". Robot controller YRCX YRCX 23103-FK-00...

  • Page 22: Robot Initialization Number List

    Robot initialization number list The XE series robots are initialized for optimum setting (default setting) according to the robot model prior to shipping. The robot controllers do not have to be reinitialized during normal operation. However, if for some reason the controller must be reinitialized, proceed while referring to the robot number shown below. ■...
  • Page 23 Chapter 3 Installation Contents 1. Robot installation conditions Installation environments Installation base 2. Installation Unpacking Checking the product Moving the robot R6YXE400 Moving the robot R6YXE610 R6YXE710 Installing the robot 3. Protective bonding 4. Robot cable connection 3-10 5. User wiring and user tubing 3-11 6.
  • Page 24 9. Limiting the movement range with Z-axis mechanical stopper R6YXE610 R6YXE710 3-31 Installing the minus direction stopper 3-33 Installing the plus direction stopper 3-35 10. Overrun amounts during impacts with Z-axis additional mechanical stopper 3-36 11. Working envelope 3-37 11.1 Working envelope 3-37 11.2...

  • Page 25: Robot Installation Conditions

    40μm or less Working space Allow sufficient space margin to perform jobs (teaching, inspection, repair, etc.) For detailed information on how to install the robot controller, refer to the separate "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 26: Installation Base

    Installation base Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reaction force while the robot is operating. WARNING • Be sure to install the robot on a horizontal surface with the base mount section facing down. Install the wall- mount or wall-mount inverse model robot with the base mount section facing sideward.

  • Page 27: 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 28: Checking The Product

    Checking the product After unpacking, check the product configuration and conditions. CAUTION If there is any damage due to transportation or insufficient parts, please notify your distributor immediately. ● Controller : YRCX Robot : XE series Product configurations Standard Robot manipulator Warning label (×1) User wiring connector kit R6YXE400...

  • Page 29: Moving The Robot R6Yxe400

    Moving the robot R6YXE400 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. To check the mass of robot, refer to "1.1 Basic specification"...

  • Page 30: Moving The Robot R6Yxe610 R6Yxe710

    Moving the robot R6YXE610 R6YXE710 WARNING If the transported robot falls and is laid down, serious injury may result. • Use a hoist and rope that can carry the weight of the robot with sufficient margin. • Be careful not to let the rope come off the hoist. •...
  • Page 31 Step5 Support the robot. Support the robot with 3 rope and non-slip bolts (M8 × 40). Insert the protective material to prevent the arm cover from being damaged. Step 5 Bolt mounting Rope 3 Rope 3 Rope 1 Rope 1 Put the robot cable on Put the robot cable on the Y-axis arm cover.

  • Page 32: Installing The Robot

    Installing the robot Install the robot securely with the four hex socket head bolts as shown in the Fig. below. The robot can be secured from the upper portion. 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 33: Protective Bonding

    The XE series robots do not have a ground terminal for this purpose. NOTE For details on protective bonding on the robot body to comply with CE Marking, follow the instructions on protective bonding explained in the "OMRON Robot Controller User's Manual".

  • Page 34: Robot Cable Connection

    The robot cable is pre-connected to the XE series robot. For details on connections to the robot controller, refer to the Fig. below and the "OMRON Robot Controller User's Manual". After making connections, check the operation while referring to the section "4.6.1 Trial Operation" in Chapter “Safety Instructions” of this manual.

  • Page 35: User Wiring And User Tubing

    User wiring and user tubing WARNING Always turn off the controller and shut off air supply before attempting wiring and tubing work. If air or power is supplied during this work, the manipulator may move erroneously causing a hazardous situation. The XE series robots are equipped with user wires and air tubes in the machine harness.
  • Page 36 Signal wiring connections in the machine harness ■ R6YXE400 Connector pins 1 to 10 can be used. Pin 11 is connected to a shield wire and cannot be used as a signal wire. Signal Connector Connection Connector Color Brown Orange Blue Violet User signal line...
  • Page 37 The operators could trip on these parts and be injured. CAUTION Always use the supplied connectors and pins. Contact faults could occur if other types are used. • Connector supplied at shipment R6YXE400 OMRON’s part number Part name Model number Q’ty Connector SMR-11V-B (Used for both the arm and base.)

  • Page 38: Attaching The End Effector

    Attaching the end effector Setting the parameters 6.1.1 Setting the parameters according to the load The YRCX holds various data for each model depending on the load, the offset distance of the center of gravity of the load, and the moment of inertia. Set these parameters correctly according to its load, and then the optimal acceleration, deceleration and velocity will be automatically determined.

  • Page 39: Confirmation After Setting The Parameters

    Weight to be added to options to be attached and tip mass   Tool flange Through tubing 100g + weight of wiring and R6YXE400 No settings tubing to be installed R6YXE610 200g + weight of wiring and 600g R6YXE710 tubing to be installed ...

  • Page 40: Acceleration Coefficient Vs. Moment Of Inertia

    Acceleration coefficient vs. moment of inertia 6.2.1 R-axis tolerable moment of inertia and acceleration coefficient The moment of inertia of a load (end effector and workpiece) that can be attached to the R-axis is limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the acceleration coefficient in accordance with the moment of inertia.

  • Page 41: Equation For Moment Of Inertia Calculation

    Equation for moment of inertia calculation Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not easy. As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated.
  • Page 42 3) Moment of inertia for cylinder (part 2) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in the Fig. below is given as follows. Moment of inertia for cylinder (part 2) ρπ...
  • Page 43 In the same manner, the moment of inertia of a cylinder as shown in the Fig. below is given by Moment of inertia of a cylinder ρπD ρπD Center line ) + mx (kgm ρπD ρπD (kgfcmsec ... (6) 23208-F0-00 In the same manner, the moment of inertia of a prism as shown in the Fig.

  • Page 44: Example Of Moment Of Inertia Calculation

    Example of moment of inertia calculation Let's discuss an example in which the chuck and workpiece are at a position offset by 10cm from the R-axis by the stay, as shown in the Fig. below. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density ρ...
  • Page 45 2. Moment of inertia of the chuck Moment of inertia of the chuck When the chuck form resembles R-axis that shown in figure, the weight of the chuck (Wc) is = 0.0078 × 2 × 4 × 6 = 0.37 (kgf) The moment of inertia of the chuck (Jc) is then calculated from Eq.

  • Page 46: Attaching The End Effector

    Attaching the end effector It is necessary to prepare the user's end effector attaching part to the robot that has adequate strength and rigidity, as well as gripping force to prevent positioning errors. WARNING • Before attaching the end effector, be sure to turn off the controller. •...
  • Page 47 Next, the following shows the recommended end effector attaching method. Attaching the end effector Hole diameter Bolt Tool flange Slot Bolts Spline shaft End effector or stay Hole diameter, depth Stay R6YXE610, R6YXE710 (In case of tool flange mount type) 23229-F0-00 Tightening torque Robot Model...

  • Page 48: Gripping Force Of End Effector

    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 workpiece 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 49: Limiting The Movement Range With X-Axis And Y-Axis Mechanical Stoppers

    7. Limiting the movement range with X-axis and Y-axis mechanical stoppers WARNING Always turn off the controller before changing the movement range with mechanical stoppers. CAUTION When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical stopper positions.
  • Page 50 After changing the mechanical stopper positions, set the soft limits to the values shown below. Soft limits ■ Standard stopper (°) Additional stopper (°) Stopper position in X-axis plus or minus direction Maximum movement position in X-axis plus or 132 (A*) 94 (B*) minus direction R6YXE400...

  • Page 51: Installing The X-Axis/Y-Axis Additional Mechanical Stoppers R6Yxe400

    Installing the X-axis/Y-axis additional mechanical stoppers R6YXE400 Follow the steps below to install the X-axis/Y-axis additional mechanical stoppers. Use the bolts listed below to install optional mechanical stoppers. Part No. Q'ty Remarks KDS-M2137-00 Bolt Additional mechanical stopper parts in either one direction of X-axis plus or minus direction KDS-M2193-00 Stopper (Stopper bolt)
  • Page 52 Installing the X-axis/Y-axis additional mechanical stoppers R6YXE610 R6YXE710 Follow the steps below to install the X-axis/Y-axis additional mechanical stoppers. Regarding the bolts provided as optional parts, use them listed below. Even if ether of +/- direction additional mechanical stopper is installed, add 1 kg to the tip weight. Part No.
  • Page 53 Installing to the standard stopper Apply adhesive Damper Y-axis Stopper Collar Bolt M4x10 Apply screw lock Bolt (16Nm) Apply screw lock 23213-FV-00 Step6 Make sure that the range of motion is limited. Step7 Go out of the safety enclosure. Step8 Turn on the controller.

  • Page 54: R6Yxe610 R6Yxe710

    8. Robot overrun during impacts with X-axis or Y-axis mechanical stopper The robot may overrun from the mechanical stopper position for some reason, such as deformation of the mechanical stopper during impacts with mechanical stopper. Be aware that the end effector may interfere with the robot main body and peripheral unit or the robot main body may interfere with the peripheral unit due to overrun during impacts with mechanical stopper.

  • Page 55: Limiting The Movement Range With Z-Axis Mechanical Stopper R6Yxe610 R6Yxe710

    9. Limiting the movement range with Z-axis mechanical stopper R6YXE610 R6YXE710 As option parts are ordered, and then they are installed, the Z-axis movement range can be narrowed by ordering and assembling optional parts. WARNING Before starting the work, thoroughly read "16. Detaching or attaching the covers" in this Chapter. WARNING Always turn off the controller before changing the movement range with mechanical stoppers.
  • Page 56 After installing the mechanical stoppers, set the soft limits to the values shown below. Soft limits after installing additional stoppers ■ Z=200mm stroke type Soft limit (pulses) Working envelope Working envelope in Z-axis plus direction 1024 (200- (L 200- (L Working envelope in Z-axis minus direction -1024 minimum value = 14　　L...

  • Page 57: Installing The Minus Direction Stopper

    Installing the minus direction stopper Follow the steps below to install the additional mechanical stopper in the Z-axis minus direction. Prepare a hex wrench set. Step1 Turn off the controller. Step2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch.
  • Page 58 Step11 Perform the Z-axis return-to-origin. NOTE For details about how to perform the Z-axis return-to-origin, see "2.3 Return-to-origin procedures" in Chapter 4. Step12 Make a note of the Z-axis machine reference value. When the machine reference is within the allowable range (between 26 and 74%), proceed to step 18. When the machine reference is beyond the allowable range, proceed to step 13.

  • Page 59: Installing The Plus Direction Stopper

    Installing the plus direction stopper Follow the steps below to install the additional stopper in the Z-axis plus direction. Prepare a hex wrench set. Step1 Turn off the controller. Step2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch. Step3 Enter the safety enclosure.

  • Page 60: Overrun Amounts During Impacts With Z-Axis Additional Mechanical Stopper

    Set the soft limits in the plus direction while referring to the calculation values shown in the Table "■Soft limits after installing additional stoppers" described previously. Step12 Check that Z-axis stops firmly. Whether or not the Z-axis stops at a position before the stopper by the soft limit must be checked from the outside of the safety enclosure.

  • Page 61: 11. Working Envelope

    11. Working envelope 11.1 Working envelope The working envelope of each robot is shown in “1.3 External view and dimensions” of Chapter 8. Working envelope (angle) of X, Y arm ■ Do not attempt operation outside the working envelope. The working envelope described in this manual is an area with the robot frontal reference when no load is applied. Working envelope R6YXE400 150°...
  • Page 62 Z-axis ■ Do not attempt work outside the working envelope. In particular, do not attempt work in the area between the working envelope and mechanical stopper position. Mechanical stoppers are installed at both the upper and lower ends of the movement range. WARNING The robot cable, user wiring or tubing may be damaged if the robot load interferes with them resulting in hazardous robot malfunctions.

  • Page 63: 11.2 Performance Area

    R-axis ■ The R-axis has no mechanical stoppers. CAUTION Since the R-axis has no mechanical stoppers, make certain that the end effector wiring and tubing do not become entangled during operation. Robot overrun during impacts with mechanical stopper ■ The robot may overrun from the mechanical stopper position for some reason, such as deformation of the mechanical stopper during impacts with mechanical stopper.

  • Page 64: Stopping Time And Stopping Distance At Emergency Stop R6Yxe400

    12. Stopping time and stopping distance at emergency stop R6YXE400 When the emergency stop button is pressed during robot operation or the power supply to the controller is turned off, the stopping time and stopping distance or angle of the main 3 axes change depending on the operation speed as shown below.
  • Page 65 Z-axis stopping time (Emergency stop is activated while the Z-axis operates in the plus direction.) 0.04 1.33kg Z-axis 2.66kg Z-axis 0.03 Z-axis 0.03 0.02 0.02 0.01 0.01 0.00 Operation speed (%) 23222-FV-00 Z-axis stopping distance (Emergency stop is activated while the Z-axis operates in the plus direction.) 1.33kg Z-axis 2.66kg...
  • Page 66 R-axis stopping time (Emergency stop is activated while the R-axis operates in the plus direction.) 0.12 0.10 0.08 0.06 0.04 1.33kg 0.001 R-axis 0.02 2.66kg 0.002 R-axis 4kg 0.003 R-axis 0.00 Operation speed (%) 23224-FV-00 R-axis stopping angle (Emergency stop is activated while the R-axis operates in the plus direction.) 1.33kg 0.001 R-axis 2.66kg 0.002...

  • Page 67: Stopping Time And Stopping Distance At Emergency Stop R6Yxe610

    13. Stopping time and stopping distance at emergency stop R6YXE610 The stopping time and stopping distance or angle of the three major axes when the power (main power) supply to the controller is cut off by the emergency stop input during robot operation are shown below. The stopping time and stopping distance (angle) are as follows according to the speed and tip load mass (33%, 66% and 100% of the maximum payload) with the robot arm extended.
  • Page 68 Z-axis stopping time (Emergency stop is activated while the Z-axis operates in the plus direction.) 0.35 3.33kg Z-axis 6.66kg Z-axis 0.30 10kg Z-axis 0.25 0.20 0.15 0.10 0.05 0.00 Operation speed (%) 23263-FV-00 Z-axis stopping distance (Emergency stop is activated while the Z-axis operates in the plus direction.) 3.33kg Z-axis 6.66kg...

  • Page 69: Stopping Time And Stopping Distance At Emergency Stop R6Yxe710

    14. Stopping time and stopping distance at emergency stop R6YXE710 The stopping time and stopping distance or angle of the three major axes when the power (main power) supply to the controller is cut off by the emergency stop input during robot operation are shown below. The stopping time and stopping distance (angle) are as follows according to the speed and tip load mass (33%, 66% and 100% of the maximum payload) with the robot arm extended.
  • Page 70 Z-axis stopping time (Emergency stop is activated while the Z-axis operates in the plus direction.) 0.35 3.33kg Z-axis 6.66kg Z-axis 0.30 10kg Z-axis 0.25 0.20 0.15 0.10 0.05 0.00 Operation speed (%) 23263-FV-00 Z-axis stopping distance (Emergency stop is activated while the Z-axis operates in the plus direction.) 3.33kg Z-axis 6.66kg...

  • Page 71: 15. Installing The User Wiring And Tubing Newly

    15. Installing the user wiring and tubing newly Use the user wiring and tubing in the machine harness as much as possible by considering the durability of the machine harness. If the user wiring and tubing incorporated into the machine are insufficient, add new user wiring and tubing using tie bands.

  • Page 72: 16. Detaching Or Attaching The Covers

    To prevent such troubles, strictly observe this caution. R6YXE400 Y-axis arm cover (OMRON’s part No. KDS-M1314-11) Harness cover (OMRON’s part No.KDS-M1312-10) Harness cover mounting bolt Binding head screw M4×10, 3 pcs.
  • Page 73 R6YXE610 / R6YXE710 Y-axis arm cover (OMRON’s part No. KFS-M1314-00) Harness cover mounting bolt Hex socket head bolt (OMRON’s part No. 91312-03010) M3x10 8 pcs.(0.9Nm) Washer (OMRON’s part No. 90990-28J204) Harness cover (OMRON’s part No.KFS-M1312-00) Y-axis arm cover mounting bolt Hex socket head bolt (OMRON’s part No.

  • Page 74: Extension Shaft Mounting ( For User Wiring/Tubing Through Spline Type )

    Before starting the work, thoroughly read "16. Detaching or attaching the covers" in this Chapter. Extension shafts can be retrofitted to route the user wiring / tubing through the spline. The following optional parts are required. OMRON Part Q'ty Remarks...

  • Page 75: 18. Tool Flange Mounting

    Step6 Go out of the safety enclosure. 18. Tool flange mounting R6YXE610 R6YXE710 You can add a tool flange later. The following optional parts are required. Replacement parts Part No. Q'ty Remarks KBF-M1790-00 Tool flange 91312-06025 Bolt 92A08-05308 Set screw Tools(Torque wrench, etc.) CAUTION Use a torque driver and torque wrench that have been calibrated precisely.
  • Page 76 Step1 Turn off the controller. Step 4 Installing the Tool Flange Step2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch. Step3 Enter the safety enclosure. Step4 Installing the Tool Flange.

  • Page 77: 19. Permissible Spline Load

    19. Permissible spline load Due to the strength factors of the spline, and the X,Y,Z,R axes, do not apply loads which exceed those shown below during an all-axis servo hold status, or during ultra-slow-speed operations. "F " includes the load of the tip load's weight. Permissible spline loads 23245-FV-00 R6YXE400...
  • Page 78 R6YXE710 F 2 (N) (kgf) F 1 (N) F 1 (kgf) R6YXE710 R (mm) R (mm) 21242-FV-00 3-54...

  • Page 79: Chapter 4 Robot Settings

    Chapter 4 Robot settings Contents 1. Over view 2. Adjusting the origin Return-to-origin method 2.1.1 Stroke end method R6YXE400 2.1.2 Mark method R6YXE400 2.1.3 Sensor method (X-axis, Y-axis) Machine reference Return-to-origin procedures 2.3.1 Stroke end method R6YXE400 2.3.2 Sensor method (X-axis, Y-axis) Adjusting the machine reference value 2.4.1 Stroke end method R6YXE400...

  • Page 81: Overview

    Over view Various settings have been completely made at the factory or by your distributor before shipment, including the origin position setting. If the operating conditions are changed and the robot needs to be set again, then follow the procedures described in this chapter. The following describes the safety precautions to be observed when making various settings.

  • Page 82: Adjusting The Origin

    However, return-to-origin is required if any of the following cases occur. The robot is shipped from the factory in condition "3." (below), so please perform return-to-origin after installing the robot. For more details on return-to-origin, refer to "Return-to-origin" in the "OMRON Robot Controller User's Manual".

  • Page 83: Stroke End Method R6Yxe400

    2.1.1 Stroke end method R6YXE400 In the stroke end method, return-to-origin is performed at a position slightly backed off from the stroke end, after the axis whose return-to-origin is performed contacts the mechanical stopper and stroke end is detected. WARNING Serious injury might occur from physical contact with the robot during operation.

  • Page 84: Mark Method R6Yxe400

    2.1.2 Mark method R6YXE400 In the mark method, the robot is moved to a position beforehand where the return-to-origin is performed and this position is determined to the return-to-origin position. There are two kinds of methods to move the robot to a position where the return-to-origin is performed as described below.

  • Page 85: Machine Reference

    Machine reference The position detector of the XE series uses a resolver that has five positions where the return-to-origin can be performed per motor revolution. The machine reference means the position relationship of the position where the robot detects the origin signal to the position where the reset can be performed soon after detection (see the Fig.

  • Page 86: Return-To-Origin Procedures

    NOTE • When pressing the key on the execution confirmation screen, the execution of the return-to-origin is canceled. • For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual". Step1 Turn on the controller.

  • Page 87: Sensor Method (X-Axis, Y-Axis)

    NOTE • When pressing the key on the execution confirmation screen, the execution of the return-to-origin is canceled. • For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual". Step1 Turn on the controller.
  • Page 88 Step6 Perform the return-to-origin. Step 6 Return-to-origin The return-to-origin execution confirmation screen pops up. Check that there are no obstacles within the movement range, and then press To cancel the return-to-origin, press After the return-to-origin has been completed, press to return to the "ORIGIN RTN (TRQ/SENS)"...

  • Page 89: Adjusting The Machine Reference Value

    Adjusting the machine reference value The X- and Y-axis origin positions of the XE series are fixed and cannot be changed. Additionally, the machine reference value was correctly adjusted at shipment. The readjustment is not needed during normal operation. However, if the machine reference value exceeds the return-to-origin tolerance range for some reason, follow the steps below to readjust the machine reference value.
  • Page 90 Remove the temporarily secured bolts, and then secure the speed reduction gear temporarily with new bolts. Replace the bolts one-by-one and take great care so that the speed reduction gear and arm do not deviate. Bolt M3 x 35, (OMRON’s part No. 91312-03035) 12 pcs. Step10 Secure the speed reduction gear.
  • Page 91 Changing the Z-axis and R-axis reference ■ Step 9 Removing the cover values Step9 Remove the cover. bolt Remove the cover while referring to "16. Detaching or attaching the covers" in Chapter 3. washer 23301-FV-00 Y-axis arm cover Z-axis motor R-axis motor WARNING If the pulley comes off from the belt, the Z-axis may drop.
  • Page 92 R6YXE610 R6YXE710 Step 11 Removing the plate To adjust the Z-axis reference value, Z-axis motor loosen the bolts at 3 locations. Z-axis fixing plate R-axis motor To adjust the R-axis reference value, loosen the bolts at 3 locations. R-axis fixing plate 23401-FV-00 Step12 Shift the engagement between the motor pulley and belt tooth.

  • Page 93: Mark Method R6Yxe400

    2.4.2 Mark method R6YXE400 The absolute reset in the mark method is classified into four groups according to the conditions as shown in the flowchart below. Since each operating procedure varies, refer to relevant portion. Absolute reset flowchart ■ The origin is performed at the same The origin is performed at a position position as the previous absolute reset different from the previous absolute...

  • Page 94: Absolute Reset In Servo On State (Re-Reset)

    • When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual". Step1 Turn on the controller.
  • Page 95 Step6 Select an axis whose absolute reset is performed. Use the cursor keys ( ) to select an axis number whose absolute reset is performed, and then press The execution confirmation screen will pop up. Step7 Perform the step movement. Press the jog key to perform the step movement of the robot until the origin position marks are matched with each other.

  • Page 96: Absolute Reset In Servo Off State (Re-Reset)

    • When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual". Step1 Turn on the controller.
  • Page 97 Step6 Move the arm to the position where the origin position marks are matched with each other. Press the emergency stop button on the PBEX to put the robot in the emergency stop state. WARNING Be sure to press the emergency stop button and move the robot in the state where the servo on cannot be operated from the outside.
  • Page 98 Step8 Select an axis whose absolute reset is performed. Use the cursor keys ( ) to select an axis number whose absolute reset is performed, and then press The execution confirmation screen will pop up. CAUTION • There are multiple discrete positions where the absolute reset can be performed. Move the robot step-by-step while referring to the PBEX screen.

  • Page 99: Absolute Reset In Servo On State (New Reset)

    Move to the all-axis 0 pulse position. When the absolute reset has been completed, move the robot to the all-axis 0 pulse position. For details about how to move to the 0 pulse position, refer to the "OMRON Robot Controller User's Manual". CAUTION Before affixing the origin position stickers, be sure to move the robot to the all axes "0"...
  • Page 100 Step10 Affix the origin position stickers. After the robot has been moved to the all axes "0" pulse position, press the emergency stop button and affix the origin position stickers to legible positions. After that, these origin position stickers are used to perform the absolute reset again at the same position.

  • Page 101: Absolute Reset In Servo Off State (New Reset)

    • When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "OMRON Robot Controller User's Manual". Step1 Turn on the controller.
  • Page 102 Step11 Affix the origin position stickers. After the robot has been moved to the all-axis 0 pulse position, press the emergency stop switch and affix the origin position stickers supplied with the robot to easy-to-identify positions near the R-axis rotation part so that they can be used when the absolute reset is performed again at the same position.Degrease the origin position sticker affixing surfaces with alcohol.

  • Page 103: Sensor Method (X-Axis, Y-Axis)

    2.4.3 Sensor method (X-axis, Y-axis) Adjusting the X-axis machine reference ■ CAUTION • The origin position may change due to machine reference adjustment. If it occurs, you must set point data again. • When the return-to-origin direction is reversed, the origin position may not be the base front. When using the standard soft limit, the axis may collide with the mechanical stopper.
  • Page 104 Step8 Loosen the hex nut. Step 8-10 Adjusting the X-axis machine reference value Using the wrench, loosen the hex nut that secures the X-axis origin sensor. 23307-FV-00 X-axis origin sensor CAUTION It is enough to loosen the nut. Do not remove the nut completely.
  • Page 105 Adjusting the Y-axis machine reference ■ CAUTION The origin position may change due to machine reference adjustment. If it occurs, you must set point data again. Follow the steps below to adjust the Y-axis machine reference value. Prepare a wrench for a width across flat of 13 mm. Step1 Turn on the controller.
  • Page 106 Step8 Loosen the hex nut. Using the wrench, loosen the hex nut that secures the Y-axis origin sensor. Step 8-10 Adjusting the Y-axis machine reference value 23308-FV-02 CAUTION It is enough to loosen the nut. Do not remove the nut completely. Hex nut Step9 Move the Y-axis origin sensor as...

  • Page 107: Changing The Origin Position Of X/Y-Axis R6Yxe610 R6Yxe710

    3. Changing the origin position of X/Y-axis R6YXE610 R6YXE710 X The X-axis Y-axis origin position can be changed 90° clockwise or counterclockwise from the X-axis Y-axis arm base front position by attaching a bolt to the dog as shown in the figure below. Relationship between dog and bolt Origin change dog For X-axis...
  • Page 108 Step5 Install the dog. Step 5 Installing the dog Bolt Y-axis dog mounting X-axis dog mounting Rotate the Y arm to expose the bolt holes one by one Insert the dog from the base side. Bolt 23412-FV-00 Step6 Attach the bolts to the dog. Step 6 Bolt Installation Rotate the arm and move the bolt over the sensor...
  • Page 109 Step7 Turn on the controller. Turn on the controller after confirming that there is nobody in the safety protection fence. Step8 Return to origin. Move the arm in the-direction relative to the new origin before returning it to the origin. Return to the origin from outside the safety enclosure.

  • Page 110: Setting The Soft Limits

    Press the emergency stop button. Press the emergency stop button on the PBEX to put the robot in the emergency stop status. NOTE For details about emergency stop and how to cancel the emergency stop, see the "OMRON Robot Controller User's Manual". Step3 Place a sign indicating the robot is being adjusted.

  • Page 111: Setting The Z-Axis Soft Limits

    Setting the Z-axis soft limits CAUTION Set the Z-axis soft limits from outside the safety 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

    Never enter the robot movement range. Step5 Set the standard coordinates. See "Setting the standard coordinates" stated in the "OMRON Robot Controller User's Manual". NOTE The next section, "4.1 Standard coordinate setting using a standard coordinate setup jig (option)", describes how to set the standard coordinates more accurately using an optional setup jig.

  • Page 113: Standard Coordinate Setting Using A Standard Coordinate Setup Jig R6Yxe400

    Press the emergency stop button on the PBEX to put the robot in the emergency stop status. NOTE For details about emergency stop and how to cancel the emergency stop, see the "OMRON Robot Controller User's Manual". Step3 Place a sign indicating the robot is being adjusted.

  • Page 114: Standard Coordinate Setting Using A Standard Coordinate Setup Jig R6Yxe610 R6Yxe710

    Put the robot in the emergency stop status. Press the emergency stop button on the PBEX to put the robot in the emergency stop status. NOTE For details about emergency stop and how to cancel the emergency stop, see the "OMRON Robot Controller User's Manual". Step3 Place a sign indicating the robot is being adjusted.
  • Page 115 Step5 Insert the shaft. Step 5-6 Attaching the Y-axis reference coordinate jig 1. Make the adjustment so that the X-axis arm and Y-axis arm are aligned on an almost straight line. 2. Adjust the arm positions so that the shaft enters the slot in the Y-axis arm and the hole in the X-axis arm without prying, and then insert the shaft.
  • Page 116 Step 11 Entering the “Offset pulse” values Step10 Enter the axis parameter "OFFSET YX-axis position pulse value X-axis position pulse value PULSE". in step 7 (counterclockwise) in step 7 (clockwise) - 327680 Enter the values shown on the right in the axis parameter "OFFSET PULSE".

  • Page 117: Affixing The Stickers For Origin Positions, Movement Directions, And Axis Names

    Affixing the stickers for origin positions, movement directions, and axis names The robot comes packed with stickers showing origin positions, movement directions and axis names. Using the following procedure, attach these stickers in conspicuous points on the robot after changing the origin position and installing peripheral equipment.
  • Page 118 Sticker affixing positions (example) 23305-FV-01 4-38...

  • Page 119: Chapter 5 Periodic Inspection

    Chapter 5 Periodic inspection Contents 1. Over view 2. List of inspection items...

  • Page 121: Overview

    • Do not attempt to weld, heat up, drill holes or cut this 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 and ball spline will shorten.

  • Page 122: List Of Inspection Items

    List of inspection items WARNING Engineers who have the qualification in conformity with "2. Qualification of operators/workers" in section 4.1 of the Safety Guide must perform the inspection items requiring the cover removal while referring to the separate XE Series Maintenance Manual. : Conduct.
  • Page 123 Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 set screw 0.69 M4 set screw 15.3 45.0...
  • Page 125 Chapter 6 Harmonic drive replacement period Contents 1. Over view 2. Replacement period...

  • Page 127: Overview

    Over view The XE series robots uses a harmonic drive as the speed reduction gear for the X and Y axes. Harmonic drives need to be replaced after specified operation hours have elapsed. Use the guideline explained below to determine the replacement period and replace the harmonic drive periodically. Since the XE series robots listed below use long-life harmonic grease, it is not necessary to replace the harmonic grease.

  • Page 128: Replacement Period

    Replacement period The harmonic drive replacement period is determined by the total number of turns of the wave generator used in the harmonic drive. It is recommended to replace the harmonic drive when the total number of turns has reached 8.4×10 (at ambient operating temperatures of 0°C to +40°C).
  • Page 129 Chapter 7 Increasing the robot operating speed Contents 1. Increasing the robot operating speed Increasing speed by arch motion Increasing the speed with the WEIGHT statement Increasing the speed by the tolerance parameter Increasing the speed by the OUT effective position parameter...

  • Page 131: Increasing Speed By Arch Motion

    Increasing the robot operating speed The robot operating speed can be increased by the following methods. Use these methods as needed when programming. Increasing speed by arch motion [Also refer to:] Robot controller user’s manual (Axis parameters Arch pulse) Programming manual (ARCHP1/ARCHP2)(MOVE Arch motion setting) Gate motion From point P1 to P4 via P2 and P3:...
  • Page 132 Arch motion: Making the arch position value smaller In "2. Arch motion", as the arch pulse value is made further smaller, the tracking arc becomes large to further shorten the cycle time. Since the tracking draws an arc, use caution to avoid obstacles if they are located on the arm movement path. Arch motion: changing the arch positions in the program [Example] Arch position can be set for each axis.

  • Page 133: Increasing The Speed With The Weight Statement

    Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller user’s manual (Robot parameters Tip weight) Programming manual (WEIGHT) [Example] From P1 when chuck is open: WEIGHT 5 ....Changes the tip weight parameter to 5kg (no workpiece). MOVE P, P2, A3=0 DO3 (0) = 1 ....Chuck closes.

  • Page 134: Increasing The Speed By The Tolerance Parameter

    Increasing the speed by the tolerance parameter [Also refer to:] Robot controller user’s manual (Axis parameters Tolerance) Programming manual (TOLE) Increasing the speed by the tolerance parameter 23605-F0 [Example] From P1 to P3 via P2 TOLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance. TOLE (2) = 2048 ...

  • Page 135: Increasing The Speed By The Out Effective Position Parameter

    Increasing the speed by the OUT effective position parameter [Also refer to:] Robot controller user’s manual (Axis parameters Out valid position) Programming manual (OUTPOS) [Example] From P1 when chuck is open: OUTPOS (1) = 10000... X-axis OUT effective position (pulses) : Increases the OUT effective position. OUTPOS (2) = 10000...
  • Page 137 Chapter 8 Torque limit designated Z-axis pushing action Contents Torque limit designated Z-axis pushing action...
  • Page 139 Torque limit designated Z-axis pushing action You can use the PUSH statement in a program to apply a Z-axis pushing action (in the direction of gravity). The table below shows the torque limit value (%) and speed limit value (%) for the motor rated torque at the tip load weights.
  • Page 140 Tip Load Weight (kg) Torque Limit Value (%) Pushing Force (N) Speed Limit Value (%) 10 to 100 75 to 280 10 to 100 70 to 275 10 to 100 65 to 270 10 to 100 65 to 265 10 to 100 60 to 255 10 to 100 55 to 250...
  • Page 141 Chapter 9 Specifications Contents 1. Manipulator Basic specification Regarding the noise level External view and dimensions Robot inner wiring diagram Wiring table 9-10...

  • Page 143: Manipulator

    Manipulator Basic specification R6YXE400 R6YXE610 R6YXE710 Arm length 225mm 335mm 435mm X-axis Rotation ±132° ±134° angle Arm length 175mm 275mm Axis Y-axis Rotation specifications ±150° ±152° angle Z-axis Stroke 150mm 200mm Rotation R-axis ±360° angle X-axis 200W 400W Y-axis Motor Z-axis 100W 200W...

  • Page 144: External View And Dimensions

    External view and dimensions R6YXE400 188(Base size) 6 H7 +0.012 +0.012 6-φ9 φ6 H7 +0.012 ±0.05 M8 bolt for ins tallation, 4 bolts used Maximum 350 during arm rotation 62.5 (123.5) (512) Maximum during arm rotation 187.8 Z-axis upper end mechanical 174.8 stopper position 174.3...
  • Page 145 R6YXE400 φ27 4-M3x0.5 through-hole (No phase relation to R-axis origin.) As this hole is intended for the wiring/tubing clamp, do not attach a large load to it. View of F Option User wiring/tubing through spline type XY-axis origin position (Stroke end type) Working envelope When performing return-to-origin, X-axis mechanical stopper position : 134°...
  • Page 146 R6YXE610 User wiring connector (Numbers 1 to 12 are usable.) J.S.T. Connector 6 blue) φ 176(Base size) User plumbing 3 SM connector: SMR-12V-B φ 6 red) User plumbing 2 Pin: SYM-001T-P0.6 is 6 H7 0.012 6 black) attached. User plumbing 1 φ...
  • Page 147 R6YXE610 4-M3x0.5 through-hole (No phase relation to R-axis origin.) As this hole is intended for the wiring/tubing clamp, do not attach a large load to it. View of B Base mounting surface Option User wiring/tubing through spline type Working envelope X-axis mechanical stopper position : 142°...
  • Page 148 R6YXE710 User wiring connector (Numbers 1 to 12 are usable.) J.S.T. Connector 176(Base size) (45) 6 blue) φ SM connector: SMR-12V-B User plumbing 3 Pin: SYM-001T-P0.6 is φ 6 red) User plumbing 2 0.012 6 H7 attached. 6 black) φ User plumbing 1 Use AP-K2N for the crimping machine.
  • Page 149 R6YXE710 4-M3x0.5 through-hole (No phase relation to R-axis origin.) As this hole is intended for the wiring/tubing clamp, do not attach a large load to it. View of B Base mounting surface Option User wiring/tubing through spline type Working envelope X-axis mechanical stopper position : 142°...

  • Page 150: Robot Inner Wiring Diagram

    Robot inner wiring diagram R6YXE400 Robot inner wiring diagram Machine harness Z-axis resolver Y-axis resolver R-axis resolver Connector for user wiring Z-axis motor Y-axis motor R-axis motor User tubing RORG X-axis origin sensor Round terminal YORG YORG Z-axis brake X-axis arm X-axis motor X-axis resolver Y-axis arm...
  • Page 151 R6YXE610 R6YXE710 Robot inner wiring diagram Machine harness Connector for user wiring User tubing RORG Z-axis resolver Y-axis resolver R-axis resolver Z-axis motor Y-axis motor R-axis motor X-axis origin sensor YORG YORG Z-axis brake Round terminal X-axis arm X-axis motor X-axis resolver Y-axis arm Y-axis origin sensor...

  • Page 152: Wiring Table

    Wiring table Robot cable wiring table Signal Connector Connection Connector Color/Number Wire Resolver Orange-1-Red 0.15sq Orange-1-Black Twisted pair Gray-1-Red 0.15sq Gray-1-Black Twisted pair Sky blue-2-Red 0.15sq Sky blue-2-Black Twisted pair Gray 0.3sq Resolver Orange-2-Red 0.15sq Orange-2-Black Twisted pair Bright green-2-Red 0.15sq Bright green-2-Black Twisted pair...
  • Page 153 Signal Connector Connection Connector Color/Number Wire Resolver Orange-1-Red 0.15sq Orange-1-Black Twisted pair Gray-1-Red 0.15sq Gray-1-Black Twisted pair Sky blue-2-Red 0.15sq Sky blue-2-Black Twisted pair Gray 0.3sq Brake Pink-1-Red 0.15sq MB– Pink-1-Black Twisted pair Sky blue-1-Red 0.15sq Sky blue-1-Black Twisted pair Resolver Orange-2-Red 0.15sq...
  • Page 154 Machine harness wiring table R6YXE400 Signal Connector Connection Connector Color Wire Y-axis Resolver Brown 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Gray Shield Z-axis Resolver Brown 0.2mm Twisted pair Black 0.2mm Twisted pair Black Orange 0.2mm Twisted pair...
  • Page 155 Machine harness wiring table R6YXE610 R6YXE710 Signal Connector Connection Connector Color Wire Y-axis Resolve Brown 0.2mm White Twisted pair 0.2mm White Twisted pair Orange 0.2mm Twisted pair White Gray Shield Z-axis Resolver Brown 0.2mm Black Twisted pair 0.2mm Twisted pair Black Orange 0.2mm...
  • Page 156 Motor wiring table Signal Color Connection Remarks Motor White Black Green/ Motor Round terminal Yellow Cable wiring table (Motor Robot cable) R6YXE400 Signal Connection Wire 0.3sq Blue Orange Bright green Brown Gray Drain wire Cable wiring table (Motor Robot cable) R6YXE610 R6YXE710 Signal...
  • Page 157 Revision histor y A manual revision code appears as a suffix to the catalog number on the front cover manual. Cat. No. I239E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Description June 2020...

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