Stroke End Method - Omron SCARA R6Y-XC Series User Manual

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.
The machine reference is factory-adjusted at shipment, and readjustment is not
necessary for normal use.
The readjustment in the following procedure is required, however, if the
machine reference exceeds the tolerance range (26 to 74) of the absolute reset
for any reason.
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.
CAUTION
THE POSITIONAL SHIFT WILL OCCUR AFTER ADJUSTING THE
MACHINE REFERENCE VALUE, SO POINT DATA SETTINGS ARE
REQUIRED AGAIN.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller or operation panel.
3) Perform the Z-axis absolute reset.
To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures"
in Chapter 4.
4) Turn off the controller.
5) Enter the safeguard enclosure.
6) Remove the Y-axis upper cover and under cover (R6YXC500 to
R6YC1000).
To remove the covers, see "7 Removing the Robot Covers" in Chapter 4.
Place the upper cover on the robot base (pedestal) side with the machine
harness still connected.
7) Prop the spline or end effector with a support stand to prevent the Z-axis
from dropping.
8) Remove the bolts securing the Z-axis motor (See Figs. 4-1 to 4-3) and then
remove the Z-axis motor.
WARNING
IF THE Z-AXIS MOTOR COMES OFF THE Z-AXIS BELT, THE Z-AXIS
DROPS CAUSING A HAZARDOUS SITUATION. BE SURE TO PROP THE
Z-AXIS WITH A SUPPORT STAND.
4-3
CHAPTER 4 Adjustment