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R6YXH250
Omron R6YXH250 Manuals
Manuals and User Guides for Omron R6YXH250. We have
1
Omron R6YXH250 manual available for free PDF download: User Manual
Omron R6YXH250 User Manual (231 pages)
Brand:
Omron
| Category:
Robotics
| Size: 4.27 MB
Table of Contents
Table of Contents
7
CHAPTER 1 Using the Robot Safely
13
Safety Information
13
Essential Caution Items
14
Industrial Robot Operating and Maintenance Personnel
22
Robot Safety Functions
23
Safety Measures for the System
24
Trial Operation
25
Work Within the Safeguard Enclosure
26
Automatic Operation
27
Warranty
28
CHAPTER 2 Functions
31
Robot Manipulator
33
Robot Controller
36
Robot Initialization Number List
37
CHAPTER 3 Installation
41
Robot Installation Conditions
41
Installation Environments
41
Installation Base
43
Installation
45
Unpacking
45
Checking the Product
46
Moving the Robot
47
Moving the R6YXH250, R6YXH350, R6YXH400
47
Moving the R6YXX1200
48
Installing the Robot
51
Protective Bonding
52
Robot Cable Connection
54
User Wiring and User Tubing
56
Attaching the End Effector
60
R-Axis Tolerable Moment of Inertia and Acceleration Coefficient
60
Acceleration Coefficient Vs. Moment of Inertia (R6YXH250)
62
Acceleration Coefficient Vs. Moment of Inertia (R6YXH350)
63
Acceleration Coefficient Vs. Moment of Inertia (R6YXH400)
64
Acceleration Coefficient Vs. Moment of Inertia (R6YXX1200)
65
Equation for Moment of Inertia Calculation
68
Example of Moment of Inertia Calculation
71
Attaching the End Effector
73
Gripping Force of End Effector
77
Limiting the Movement Range with X-Axis Mechanical Stoppers (R6YXX1200)
78
R6Yxx1200
79
Limiting the Movement Range with X-, Y- and Z-Axis Mechanical Stoppers (R6YXH250, R6YXH350, R6YXH400)
81
Installing the X-, Y- and Z-Axis Additional Mechanical Stoppers
81
Installing the X- and Y-Axis Additional Mechanical Stoppers
84
Installing the Z-Axis Additional Mechanical Stopper
86
Installing the Minus Direction Stopper
86
Installing the Plus Direction Stopper
89
Overrun Amounts During Impacts with X, y and Z-Axis Additional Mechanical Stoppers
90
Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope
91
Stopping Time and Stopping Distance at Emergency Stop
97
R6Yxh250, R6Yxh350, R6Yxh400
97
R6Yxx1200
105
CHAPTER 4 Adjustment
109
Overview
109
Safety Precautions
109
Adjusting the Origin
110
Absolute Reset Method
111
Sensor Method (X-Axis, Y-Axis, and R-Axis)
111
Mark Method (X-Axis, Y-Axis, and R-Axis)
112
Stroke End Method (Z-Axis)
112
Machine Reference
113
Absolute Reset Procedures
114
Sensor Method (X-Axis, Y-Axis, and R-Axis)
114
Mark Method (X-Axis, Y-Axis, and R-Axis)
116
Absolute Reset with Servo on (Re-Reset)
117
Absolute Reset with Servo off (Re-Reset)
119
Absolute Reset with Servo On. (New Reset)
121
Absolute Reset with Servo Off. (New Reset)
124
Stroke End Method (Z-Axis)
130
Changing the Origin Position and Adjusting the Machine Reference
131
Sensor Method
132
R6Yxh250, R6Yxh350, R6Yxh400
132
Mark Method
140
Stroke End Method
141
R6Yxh250, R6Yxh350, R6Yxh400, R6Yxx1200
141
R6Yxx1200
143
Setting the Soft Limits
145
Setting the Standard Coordinates
148
Affixing Stickers for Origin Positions, Movement Directions and Axis Names
149
Removing the Robot Covers
151
Adjusting the Timing Belt Tension
154
Adjusting the Belt Tension (R6YXH250, R6YXH350, R6YXH400)
155
Adjusting the Belt Tension (R6YXX1200)
157
CHAPTER 5 Periodic Inspecition
163
Overview
163
Precautions
164
Daily Inspection
165
Six-Month Inspection
167
Replacing the Harmonic Drive
170
Replacement Period
170
Basic Replacement Procedure for Harmonic Drive and Precautions
172
R6Yxh250, R6Yxh350, R6Yxh400
174
R6Yxx1200
191
Replacing the Grease for RV Speed Reduction Gears
196
Replacement Period
196
Recommended Grease
196
Replacement Procedure
197
Replacing the X-Axis Grease (First Product to Products Manufactured in September 2009)
198
Replacing the X-Axis Grease (Products Manufactured from October 2009 Onward)
199
Replacing the Y-Axis Grease (First Product to Products Manufactured in September 2009)
200
Replacing the Y-Axis Grease (Products Manufactured from October 2009 Onward)
201
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