Related Manuals for Omron Scara R6Y - XP Series
Summary of Contents for Omron Scara R6Y - XP Series
- Page 1 Cat. No. I143E-EN-01 SCARA Robots ZX-T Series XP Series R6Y - XP series USER´S MANUAL...
- Page 3 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 4 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.
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Page 5: 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 ..............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 6 CHAPTER 4 Adjustment 1 Removing the Robot Covers ..........4-1 Removing the Y-axis arm upper cover (R6YXP250 to R6YXP400) ....4-2 Removing the Y-axis arm upper cover (R6YXP500, R6YXP600) ....4-6 Removing the Y-axis arm upper cover (R6YXP700 to R6YXP1000) ..4-10 2 Origin Position Stickers ............4-14 3 Adjusting the Z-axis Machine Reference ......4-15 CHAPTER 5 Specifications...
- Page 7 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 ................1-11 7 Work Within the Safeguard Enclosure ........
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Page 9: 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 10: 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. (1) Observe the following cautions during automatic operation. - Page 11 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. 2-1 and Fig. 2-2 for the locations of warning labels. • Be sure to read the warning label and this manual carefully and make your thoroughly understand the contents before attempting installation and operation of the robot.
- Page 12 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 13 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 14 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 Electrical shock, malfunction of robot...
- Page 15 CHAPTER 1 Using the Robot Safely (18) Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK. (19) Do not allow any object to enter the X-axis motor cooling fan. WARNING IF AN OBJECT SUCH AS A SMALL WORKPIECE WHICH THE END EFFECTOR FAILED TO PICK UP, PENETRATES INTO THE COOLING FAN FOR THE X-AXIS MOTOR, IT MAY REBOUND AND FLY AWAY FROM THE FAN, POSSIBLY CAUSING BODILY INJURY OR DAMAGE TO THE FAN.
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Page 16: 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. Since the XP series robots fall under the industrial robot category, the user must observe local regulations and safety standards for industrial robots, and pro- vide special training for every person involved in robot-related tasks (teaching,... -
Page 17: 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 18: 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 19: 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 20: 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 21: 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 unit and tools are in their specified locations. 3. -
Page 22: 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 23 CHAPTER 1 Using the Robot Safely WARRANTY OMRON’s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED. LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY 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. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR. 1-15...
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Page 24: 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 25: Chapter 2 Functions
CHAPTER 2 Functions 1 Robot Manipulator ..............2-1... -
Page 27: Robot Manipulator
CHAPTER 2 Functions Robot Manipulator Figs.2-1 and 2-2 below show the part names and functions of the XP series robots. User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) Connector for user wiring (pins 1 to 10) Connector for user wiring (pins 1 to 10) - Page 28 CHAPTER 2 Functions Eyebolt installation Connector for user wiring (pins.1 to 20) position User tubing 1 (φ6 black) Y-axis mechanical stopper X-axis movable mechanical stopper User tubing 2 (φ6 red) User tubing 3(φ6 blue) Machine harness Ball screw Warning label 1 Warning label 2 (Same on opposite side) (Same on opposite side)
- Page 29 CHAPTER 3 Installation 1 Robot Installation Conditions ............ 3-1 Protection rating for moisture and dust on dust/drip proof models ....3-1 2 User Wiring Connectors and User Tubing ......... 3-2 3 Air Purge Tubing ................ 3-6 4 Exhaust Port ................3-7...
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Page 31: Chapter 3 Installation
The protection rating for moisture and dust in the R6YXP250 through R6YXP1000 dust/drip proof models are equivalent to IP65. Please consult OMRON for drip-proof specifications for other than water. Always use air purge. Water or dust may get inside depending on usage environment. -
Page 32: User Wiring Connectors And User Tubing
CHAPTER 3 Installation User Wiring Connectors and User Tubing WARNING WIRING AND TUBING WORK MAY CAUSE MALFUNCTIONS SO TURN OFF THE POWER TO THE CONTROLLER AND SHUT OFF THE AIR SUPPLY. Only the user signal wiring for the R6YXP500 through R6YXP1000 dust/drip proof models are different from the standard wiring. Other dust/drip proof model user signal wiring and air tubes are identical to the standard parts. - Page 33 CHAPTER 3 Installation 3) Signal wire connections in the machine harness Connector pins 1 through 23 can be used for user signal wires in the R6YXP500, R6YXP600, R6YXP700, R6YXP800, R6YXP1000. The shield wire is connected to pin 24 and so it cannot be used as a signal wire. Signal Connector Connection...
- Page 34 CHAPTER 3 Installation WARNING THE USER CABLE WIRES SHOULD HAVE A SHIELD WIRE. CONNECT IT TO THE SAME NO. PIN IN THE USER WIRING CONNECTOR ON THE ROBOT SIDE, WHICH ALSO CONNECTS TO THE SHIELD WIRE. IF THIS TASK IS OMITTED, NOISE MAY CAUSE MALFUNCTION OF THE ROBOT. WARNING AVOID FASTENING THE USER CABLE OR TUBE WITH THE MACHINE HARNESS, AS THIS MAY LEAD TO HARNESS BREAKAGE AND...
- Page 35 Manufacturer: Nanahoshi Science Laboratory 5) To check the operation and signal exchange between the end effector and the controller or peripheral equipment after making connections, refer to “6. Trial operation” of Chapter 1 in the OMRON SCARA robot user’s manual.
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Page 36: Air Purge Tubing
CHAPTER 3 Installation Air Purge Tubing WARNING TURN OFF POWER TO THE CONTROLLER BEFORE DOING PIPING OR TUBING WORK AND SHUT OFF THE AIR SUPPLY. The dust/drip proof models have air supply inlets in the base (pedestal) rear panel for air purge of X-axis, Y-axis and R-axis joints. Supplying air to these inlets prevents dust from penetrating into the robot joint. -
Page 37: Exhaust Port
CHAPTER 3 Installation Exhaust Port WARNING TURN OFF POWER TO THE CONTROLLER BEFORE DOING PIPING OR TUBING WORK. CAUTION BEFORE OPERATING THE ROBOT, ALWAYS BE SURE TO REMOVE THE PLUG INSTALLED IN THE EXHAUST PORT PRIOR TO SHIPPING. IF NOT REMOVED, THE BELLOWS WILL BE UNABLE TO EXTEND AND RETRACT AND MAY BE DAMAGED. - Page 39 CHAPTER 4 Adjustment 1 Removing the Robot Covers ............4-1 Removing the Y-axis arm upper cover (R6YXP250 to R6YXP400) ....4-2 Removing the Y-axis arm upper cover (R6YXP500, R6YXP600) ....4-6 Removing the Y-axis arm upper cover (R6YXP700 to R6YXP1000) ..4-10 2 Origin Position Stickers ............
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Page 41: Chapter 4 Adjustment
CHAPTER 4 Adjustment Removing the Robot Covers The following steps show the procedure for removing the robot cover. Follow these steps for maintenance work. 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 42: Removing The Y-Axis Arm Upper Cover (R6Yxp250 To R6Yxp400)
CHAPTER 4 Adjustment Table 4-3 R6YXP700, R6YXP800, R6YXP1000 (See Fig. 4-3) Cover name Screw No. Screw size M4x8 Base (robot pedestal) rear cover 1 M4 seal washer Base (robot pedestal) side cover M4x8 M4x50 Y-axis arm upper block M4x30 14 (R6YXP700, R6YXP800) M4x8 Y-axis arm side frame 16 (R6YXP1000) - Page 43 CHAPTER 4 Adjustment 9) Loosen the flexible couplings and extract from the shaft. 10) Remove the machine harness from the shaft hole. Handle with care not to damage the connector, wiring, and tubing. 11) Loosen the Y-axis arm flexible coupling and extract from the shaft. 12) Pull the flexible coupling in the direction shown by the arrow, and move it all the way to the edge of the wiring connector on the robot base side.
- Page 44 CHAPTER 4 Adjustment 3- M3x20 M3 seal washer 4- M4x6 Cover holder User tubing 1 (ø4 black) User tubing 2 (ø4 red) User tubing 3 (ø4 blue) Y-axis upper cover Flexible coupling Gasket Shaft Y-axis arm upper block Pull in this direction. Flexible cable Flexible coupling Gasket...
- Page 45 CHAPTER 4 Adjustment Insulock tie strap Machine harness 1- M4x18 X-axis joint air purge port (ø6) Y-axis joint air purge port (ø6) R-axis joint air purge port (ø6) User tubing 1 (ø4 black) User tubing 2 (ø4 red) User tubing 3 (ø4 blue) Base rear cover FG wire round terminal...
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Page 46: Removing The Y-Axis Arm Upper Cover (R6Yxp500, R6Yxp600)
CHAPTER 4 Adjustment 1-2 Removing the Y-axis arm upper cover (R6YXP500, R6YXP600) Proceed as follows while referring to Fig. 4-2. 1) Turn off the controller power. 2) Place a sign indicating “work in progress”, to keep others from operating the controller switch. 3) Remove the front cover and rear cover 1 of the robot base (pedestal). 4) Remove the FG wire round terminals (2 pcs) from the machine harness. - Page 47 CHAPTER 4 Adjustment 16) Remove the Y-axis and R-axis joint air purge tubes from their couplings. Place marks so the air tubes can later be connected back to their original positions. 17) Remove the IO connectors inside the cover. 18) Remove the screws on Y-axis arm side frame and remove the cover holder. 19) Remove the screws on the bottom of the Y-axis arm upper cover, then remove the block and cover together from the Y-axis arm.
- Page 48 CHAPTER 4 Adjustment 4- M4x8 8- M4x6 M4 seal washer 5- M4x10 3- M3x25 M3 seal washer Cover holder User tubing 1 (ø6 black) User tubing 2 (ø6 red) Y-axis arm upper bearing holder User tubing 3 (ø6 blue) Y-axis arm upper cover Flexible coupling Gasket Shaft...
- Page 49 CHAPTER 4 Adjustment 1- M4x8 M4 seal washer Base rear cover 1 FG wire round terminal User tubing 1 (ø6 black) User tubing 2 (ø6 red) User tubing 3 (ø6 blue) Base rear cover 2 X-axis joint air purge port (ø6) Y-axis joint air purge port (ø6) R-axis joint air purge port (ø6) 7- M4x8...
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Page 50: Removing The Y-Axis Arm Upper Cover (R6Yxp700 To R6Yxp1000)
CHAPTER 4 Adjustment 1-3 R e m o v i n g t h e Y- a x i s a r m u p p e r c o v e r ( R 6 Y X P 7 0 0 t o R6YXP1000) Proceed as follows while referring to Fig. - Page 51 CHAPTER 4 Adjustment 15) Remove the user air tubes 1 to 3 inside the cover from the couplings. The air tube colors match the coupling colors. 16) Remove the Y-axis and R-axis joint air purge tubes from their couplings. Place marks so the air tubes can later be connected back to their original positions.
- Page 52 CHAPTER 4 Adjustment User tubing 1 (ø6 black) User tubing 2 (ø6 red) 8- M4x8 User tubing 3 (ø6 blue) 4- M4x8 M4 seal washer Y-axis arm upper bearing holder Cover holder 3- M4x50 M4 seal washer 3- M4x30 M4 seal washer 5- M4x10 Y-axis arm upper cover...
- Page 53 CHAPTER 4 Adjustment 1- M4x8 M4 seal washer Base rear cover 1 FG wire round terminal User tubing 1 (ø6 black) User tubing 2 (ø6 red) User tubing 3 (ø6 blue) X-axis joint air purge port (ø6 black) Base rear cover 2 Y-axis joint air purge port (ø6 red) R-axis joint air purge port (ø6 blue) 7- M4x8...
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Page 54: Origin Position Stickers
The origin position stickers for other models are attached to the same loca- tions as standard models, so refer the OMRON SCARA robot user’s manual for standard models. -
Page 55: Adjusting The Z-Axis Machine Reference
Adjusting the Z-axis Machine Reference Before adjusting the machine reference, read the precautions and procedure explained in "3-4-3 Stroke end method" of the OMRON SCARA robot user’s manual for standard models. The parts shown in the standard model manual will appear after removing the Z-axis bellows with the following procedure. (See Fig. -
Page 57: Chapter 5 Specifications
CHAPTER 5 Specifications 1 Robot Manipulator ..............5-1 Basic specifications ..................5-1... -
Page 59: Robot Manipulator
CHAPTER 5 Specifications Robot Manipulator 1-1 Basic specifications Robot model R6YXP250 R6YXP350 R6YXP400 Arm length 125mm 225mm 225mm X-axis Rotation angle ±115° ±115° ±115° Axis Arm length 125mm 125mm 175mm speci - Y -axis Rotation angle ±130° ±130° ±140° cations Z-axis Stroke 150mm 150mm 150mm... - Page 60 CHAPTER 5 Specifications Robot model R6YXP500 R6YXP600 Arm length 250mm 350mm X-axis Rotation angle ±120° ±120° Axis Arm length 250mm 250mm speci - Y-axis Rotation angle ±145° ±145° cations Z-axis Stroke 200,300mm 200,300mm ±180° R-axis Rotation angle ±180° X-axis 400W 400W Y-axis 200W...
- Page 61 CHAPTER 5 Specifications Robot Model R6YXP700 R6YXP800 R6YXP1000 350mm 450mm 550mm Arm length X-axis ±120° ±120° ±120° Rotation angle 350mm 350mm 450mm Axis Arm length Y-axis ±145° ±145° ±145° specifi- Rotation angle Z-axis 200,400mm 200,400mm 200,400mm cations Stroke ±180° ±180° R-axis ±180°...
- Page 62 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I143E-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...