Page 1 Cat. No. I155E-EN-03A SCARA Robots ZX-T Series XG Series R6Y - XG series INSTALLATION MANUAL...
Page 3: Table Of Contents
General Contents Safety Instructions 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels ……………………………………………………………………………… S-3 3.1.1 Warning label messages on robot and controller ……………………………………………………… S-3 3.1.2 Supplied warning labels ………………………………………………………………………………… S-6 Warning symbols …………………………………………………………………………… S-7 4.
Page 4 Unpacking ………………………………………………………………………………… 2-3 Checking the product ……………………………………………………………………… 2-5 Moving the robot ………………………………………………………………………… 2-15 2.3.1 Moving the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600 ……………2-15 2.3.2 Moving the R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 …2-16 2.3.3 Moving the R6YXGS300 and R6YXGS400 ……………………………………………………………2-18 2.3.4...
Page 5 7.2.3 Robot overrun during impacts with X-axis or Y-axis mechanical stopper ………………………………2-67 8. Limiting the movement range with Z-axis mechanical stopper 2-68 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ………… 2-68 8.1.1 Installing the minus direction stopper ……………………………………………………………………2-69 8.1.2 Installing the plus direction stopper ……………………………………………………………………2-71 8.1.3...
Page 6 9. Working envelope and mechanical stopper positions for maximum working envelope 2-79 10. Stopping time and stopping distance at emergency stop 2-82 10.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 … 2-82 10.2 R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 ………………………………… 2-88 10.3 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 ……………………………...
Page 7 4. Setting the standard coordinates 3-37 Standard coordinate setting using a standard coordinate setup jig ………………… 3-38 4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ……3-38 4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 …………………3-39 5.
Page 8 Chapter 8 Specifications 1. Manipulator 1.1 Basic specification ………………………………………………………………………… 8-1 1.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 …………………………… 8-1 1.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 …… 8-3 1.1.3 R6YXGS300, R6YXGS400, R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 …………………………………………………………… 8-5 External view and dimensions …………………………………………………………… 8-7 1.2.1...
Page 9 Safety Instructions Contents Safety Information Signal words used in this manual Warning labels Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels Warning symbols Major precautions for each stage of use Precautions for using robots and controllers Design 4.2.1 Precautions for robots...
Page 11: Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure safe and correct use of OMRON industrial robots and controllers, carefully read and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause personal injury (to installation personnel, robot operator or service personnel) including fatal accidents.
Page 12: Signal Words Used In This Manual
Signal words used in this manual This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you 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: Warning Labels
Warning labels Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To ensure correct use, read the warning labels and comply with the instructions. Warning labels WARNING IF WARnInG LAbELS ARE REmovEd oR dIFFICULT To SEE, THEn THE nECESSARY pRECAUTIonS mAY noT bE TAKEn, RESULTInG In An ACIdEnT. • do noT REmovE, ALTER oR STAIn THE WARnInG LAbELS on THE RoboT bodY. • do noT ALLoW WARnInG LAbELS To bE HIddEn bY dEvICES InSTALLEd on THE RoboT bY THE USER.
Page 14 Warning label 3 (SCARA robots) WARNING ImpRopER InSTALLATIon oR opERATIon mAY CAUSE SERIoUS InJURY. bEFoRE InSTALLInG oR opERATInG THE RoboT, REAd THE mAnUAL And InSTRUCTIonS on THE WARnInG LAbELS And UndERSTAnd THE ConTEnTS. Instructions on this label • be sure to read the warning label and this manual carefully to make you completely understand the contents before attempting installation and operation of the robot. • before starting the robot operation, even after you have read through this manual, read again the corresponding procedures and "Safety instructions"...
Page 15 "Read instruction manual" label (Controller)* * This label is attached to the front panel. CAUTION Refer to the manual. Instructions on this label This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual thoroughly.
Page 16: Supplied Warning Labels
3.1.2 Supplied warning labels Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure.
Page 17: Warning Symbols
Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the OMRON robot safely and correctly always follow the instructions and cautions indicated by the symbols. Electrical shock hazard symbol WARNING ToUCHInG THE TERmInAL bLoCK oR ConnECToR mAY CAUSE ELECTRICAL SHoCK, So USE CAUTIon.
Page 18: Major Precautions For Each Stage Of Use
Precautions for using robots and controllers General precautions for using robots and controllers are described below. Applications where robots cannot be used OMRON robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following applications. DANGER omRon RoboT ConTRoLLERS And RoboTS ARE dESIGnEd AS GEnERAL-pURpoSE IndUSTRIAL EqUIpmEnT And CAnnoT bE USEd FoR THE FoLLoWInG AppLICATIonS.
Page 19: Design
Design 4.2.1 Precautions for robots Restricting the robot moving speed WARNING RESTRICTIon on THE RoboT movInG SpEEd IS noT A SAFETY-RELATEd FUnCTIon. To REdUCE THE RISK oF CoLLISIon bETWEEn THE RoboT And WoRKERS, THE USER mUST TAKE THE nECESSARY pRoTECTIvE mEASURES SUCH AS EnAbLE dEvICES ACCoRdInG To RISK ASSESSmEnT bY THE USER. Restricting the movement range See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range. WARNING SoFT LImIT FUnCTIon IS noT A SAFETY-RELATEd FUnCTIon InTEndEd To pRoTECT THE HUmAn bodY. To RESTRICT THE RoboT movEmEnT RAnGE To pRoTECT THE HUmAn bodY, USE THE mECHAnICAL SToppERS InSTALLEd In THE RoboT (oR AvAILAbLE AS opTIonS). CAUTION If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as option), the robot may be damaged. Provide safety measures for end effector (gripper, etc.) WARNING • End EFFECToRS mUST bE dESIGnEd And mAnUFACTUREd So THAT THEY CAUSE no HAZARdS (SUCH AS A LooSE WoRKpIECE oR LoAd) EvEn IF poWER (ELECTRICITY, AIR pRESSURE, ETC.) IS SHUT oFF oR poWER...
Page 20: Moving And Installation
Do not use in locations subject to possible electromagnetic interference, etc. WARNING do noT USE THE RoboT In LoCATIonS SUbJECT To ELECTRomAGnETIC InTERFEREnCE, ELECTRoSTATIC dISCHARGE oR RAdIo FREqUEnCY InTERFEREnCE. THE RoboT mAY mALFUnCTIon IF USEd In SUCH LoCATIonS CREATInG HAZARdoUS SITUATIonS. Do not use in locations exposed to flammable gases WARNING • omRon RoboTS ARE noT dESIGnEd To bE EXpLoSIon-pRooF. • do noT USE THE RoboTS In LoCATIonS EXpoSEd To EXpLoSIvE oR InFLAmmAbLE GASES, dUST pARTICLES oR LIqUId. FAILURE To FoLLoW THIS InSTRUCTIon mAY CAUSE SERIoUS ACCIdEnTS InvoLvInG InJURY oR dEATH, oR LEAd To FIRE. Moving ■ Use caution to prevent pinching or crushing of hands or fingers WARNING movInG pARTS CAn pInCH oR CRUSH HAndS oR FInGERS.
Page 21: Precautions For Robot Controllers
Adjustment that requires removing a cover WARNING AdJUSTmEnT bY REmovInG A CovER REqUIRE SpECIALIZEd TECHnICAL KnoWLEdGE And SKILLS, And mAY ALSo InvoLvE HAZARdS IF ATEmpTEd bY An UnSKILLEd pERSon. THESE TASKS mUST bE pERFoRmEd onLY bY pERSonS WHo HAvE EnoUGH AbILITY And qUALIFICATIonS In ACoRdAnCE WITH LoCAL LAWS And REGULATIonS. FoR dETAILEd InFoRmATIon, pLEASE ConTACT YoUR dISTRIbUToR WHERE YoU pURCHASEd THE pRodUCT. 4.3.2 Precautions for robot controllers Installation environment ■ Installation environment WARNING omRon RoboTS ARE noT dESIGnEd To bE EXpLoSIon-pRooF. do noT USE THE RoboTS And ConTRoLLERS In LoCATIonS EXpoSEd To EXpLoSIvE oR InFLAmmAbLE GASES, dUST pARTICLES oR LIqUId SUCH AS GASoLInE And SoLvEnTS. FAILURE To FoLLoW THIS InSTRUCTIon mAY CAUSE SERIoUS ACCIdEnTS InvoLvInG InJURY oR dEATH, And LEAd To FIRE. WARNING • USE THE RoboT ConTRoLLER In LoCATIonS THAT SUppoRT THE EnvIRonmEnTAL CondITIonS SpECIFIEd In THIS mAnUAL. opERATIon oUTSIdE THE SpECIFIEd EnvIRonmEnTAL RAnGE mAY CAUSE ELECTRICAL SHoCK, FIRE, mALFUnCTIon oR pRodUCT dAmAGE oR dETERIoRATIon. • THE RoboT ConTRoLLER And pRoGRAmmInG boX mUST bE InSTALLEd AT A LoCATIon THAT IS oUTSIdE THE RoboT SAFETY EnCLoSURE YET WHERE IT IS EASY To opERATE And vIEW RoboT movEmEnT. • InSTALL THE RoboT ConTRoLLER In LoCATIonS WITH EnoUGH SpACE To pERFoRm WoRK (TEACHInG, InSpECTIon, ETC.) SAFELY. LImITEd SpACE noT onLY mAKES IT dIFFICULT To pERFoRm WoRK bUT CAn ALSo CAUSE InJURY. • InSTALL THE RoboT ConTRoLLER In A STAbLE, LEvEL LoCATIon And SECURE IT FIRmLY. AvoId InSTALLInG THE ConTRoLLER UpSIdE doWn oR In A TILTEd poSITIon.
Page 22 Wiring ■ Connection to robot controller The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and controller combination, and connect them in the correct combination. Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller.
Page 23: Safety Measures
Safety measures 4.4.1 Safety measures Referring to warning labels and manual WARNING • bEFoRE STARTInG InSTALLATIon oR opERATIon oF THE RoboT, bE SURE To REAd THE WARnInG LAbELS And THIS mAnUAL, And CompLY WITH THE InSTRUCTIonS. • nEvER ATTEmpT AnY REpAIR, pARTS REpLACEmEnT And modIFICATIon UnLESS dESCRIbEd In THIS mAnUAL. THESE TASKS REqUIRE SpECIALIZEd TECHnICAL KnoWLEdGE And SKILLS And mAY ALSo InvoLvE HAZARdS. pLEASE ConTACT YoUR dISTRIbUToR FoR AdvICE. NOTE For details on warning labels, see "3. Warning labels" in "Safety instructions." Draw up "work instructions" and make the operators/workers understand them WARNING dECIdE on "WoRK InSTRUCTIonS" In CASES WHERE pERSonnEL mUST WoRK WITHIn THE RoboT SAFETY EnCLoSURE To pERFoRm STARTUp oR mAInTEnAnCE WoRK. mAKE SURE THE WoRKERS CompLETELY...
Page 24: Installing A Safety Enclosure
WARNING • dURInG STARTUp oR mAInTEnAnCE TASKS, dISpLAY A SIGn "WoRK In pRoGRESS" on THE pRoGRAmmInG boX And opERATIon pAnEL In oRdER To pREvEnT AnYonE oTHER THAn THE pERSon FoR THAT TASK FRom mISTAKEnLY opERATInG THE START oR SELECToR SWITCH. IF nEEdEd, TAKE oTHER mEASURES SUCH AS LoCKInG THE CovER on THE opERATIon pAnEL. • ALWAYS ConnECT THE RoboT And RoboT ConTRoLLER In THE CoRRECT CombInATIon. USInG THEm In An InCoRRECT CombInATIon mAY CAUSE FIRE oR bREAKdoWn. Install system When configuring an automated system using a robot, hazardous situations are more likely to occur from the automated system than the robot itself. So the system manufacturer should install the necessary safety measures required for the individual system. The system manufacturer should provide a proper manual for safe, correct operation and servicing of the system.
Page 25: Safety Measures
Operation When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation. DANGER CHECK THE FoLLoWInG poInTS bEFoRE STARTInG RoboT opERATIon. • no onE IS WITHIn THE RoboT SAFETY EnCLoSURE. • THE pRoGRAmmInG UnIT IS In THE SpECIFIEd LoCATIon. • THE RoboT And pERIpHERAL EqUIpmEnT ARE In Good CondITIon. 4.5.1 Trial operation After installing, adjusting, inspecting, maintaining or repairing the robot, perform trial operation using the following procedures.
Page 26 Working inside safety enclosures Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective function is operating correctly (see the previous section 2.3). DANGER nEvER EnTER WITHIn THE movEmEnT RAnGE WHILE WITHIn THE SAFETY EnCLoSURE. See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range. WARNING WHEn WoRK IS REqUIREd WITHIn THE SAFETY EnCLoSURE, pLACE A SIGn "WoRK In pRoGRESS" In oRdER To KEEp oTHER pERSonS FRom opERATInG THE ConTRoLLER SWITCH oR opERATIon pAnEL.
Page 27: Automatic Operation
4.5.2 Automatic operation Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases where an error occurs during automatic operation. Automatic operation described here includes all operations in AUTO mode. Checkpoints before starting automatic operation Check the following points before starting automatic operation DANGER • CHECK THAT no onE IS WITHIn THE SAFETY EnCLoSURE.
Page 28 Use caution when releasing the Z-axis (vertical axis) brake WARNING THE vERTICAL AXIS WILL SLIdE doWnWARd WHEn THE bRAKE IS RELEASEd, CAUSInG A HAZARdoUS SITUATIon. TAKE AdEqUATE SAFETY mEASURES In ConSIdERATIon bY TAKInG THE WEIGHT And SHApE InTo ACCOUNT. • bEFoRE RELEASInG THE bRAKE AFTER pRESSInG THE EmERGEnCY STop bUTTon, pLACE A SUppoRT UndER THE vERTICAL AXIS So THAT IT WILL noT SLIdE doWn. • bE CAREFUL noT To LET YoUR bodY GET CAUGHT bETWEEn THE vERTICAL AXIS And THE InSTALLATIon bASE WHEn pERFoRmInG TASKS (dIRECT TEACHInG, ETC.) WITH THE bRAKE RELEASEd. Be careful of Z-axis movement when the controller is turned off or emergency stop is triggered (air-driven Z-axis) WARNING THE Z-AXIS STARTS movInG UpWARd WHEn poWER To THE ConTRoLLER oR pLC IS TURnEd oFF, THE pRoGRAm IS RESET, EmERGEnCY STop IS TRIGGEREd, oR AIR IS SUppLIEd To THE SoLEnoId vALvE FoR THE Z-AXIS AIR CYLIndER.
Page 29: Inspection And Maintenance
Inspection and maintenance Always perform daily and periodic inspections and make a pre-operation check to ensure there are no problems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary.
Page 30: Precautions During Service Work
4.6.2 Precautions during service work Be careful when removing the Z-axis motor (SCARA robots) WARNING THE Z-AXIS WILL SLIdE doWnWARd WHEn THE Z-AXIS moToR IS REmovEd, CAUSInG A HAZARdoUS SITUATIon. • TURn oFF THE ConTRoLLER And pLACE A SUppoRT UndER THE Z-AXIS bEFoRE REmovInG THE Z-AXIS MOTOR. • bE CAREFUL noT To LET YoUR bodY GET CAUGHT bY THE dRIvInG UnIT oF THE Z-AXIS oR bETWEEn THE Z-AXIS dRIvE UnIT And THE InSTALLATIon bASE. Do not remove the Z-axis upper limit mechanical stopper CAUTION Warning label 4 is attached to each SCARA robot. (For details on warning labels, see "3. Warning labels" in "Safety instructions.") Removing the upper limit mechanical stopper installed to the Z-axis spline or shifting its position will damage the Z-axis ball screw. Never attempt to remove it.
Page 31: Disposal
Disposal When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. Disposal of lithium batteries When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company.
Page 32: Emergency Action When A Person Is Caught By Robot
Make a printout of the relevant page in the manual and post it a conspicuous location near the controller. Cautions regarding strong magnetic fields Some OMRON robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions.
Page 33: Using The Robot Safely
Using the robot safely Movement range When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure b). The actual movement range expands even further if the tool or workpiece is offset from the manipulator tip. The movement range here is defined as the range of robot motion including all areas through which the robot arms, the tool and workpiece attached to the manipulator tip, and the solenoid valves attached to the robot arms move.
Page 34: Robot Protective Functions
Robot protective functions Protective functions for OMRON robots are described below. Overload detection This function detects an overload applied to the motor and turns off the servo. If an overload error occurs, take the following measures to avoid such errors: 1.
Page 35: Residual Risk
Residual risk To ensure safe and correct use of OMRON robots and controllers, System integrators and/or end users implement machinery safety design that conforms to ISO12100. Residual risks for omRon robots and controllers are described in the dAnGER or WARnInG instructions provided in each chapter and section. Read them carefully. Special training for industrial robot operation...
Page 37: Warranty
Warranty description ■ If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary replacement/ repair parts.
Page 39 Introduction Contents Before using the robot (Be sure to read the following notes.) Introduction...
Page 41 Set the origin position while referring to absolute reset methods in "2. Adjusting the origin" in Chapter 3 of this manual and in "Absolute Reset" of the "OMRON Robot Controller User's manual". Setting of standard coordinates is not required in the above case. To set the standard coordinates...
Page 42 If the machine harness projects toward the base rear side. In the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600, the machine harness may project toward the base rear side according to the arm position. The projection amount by arm position is described in "1.2 External view and dimensions" in Chapter 8. So, refer to this section for further information.
Page 43 R6YXGL600, R6YXGS300 and R6YXGS400. When the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 has any of three specifications with the extension shaft or tool flange installed as shown in the Fig. below, set the tip mass parameter as follows.
Page 44 User wiring/tubing through spline and tool flange mount type Put timer during Z-axis operation of the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400. If the tip load attached to the spline tip exceeds 3kg, the Z-axis may be overloaded according to the operation pattern.
Page 45 Be sure to explain to the new user the need to read through this manual. This manual describes the following robot models. R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXG500, Standard model R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000...
Page 47 Chapter 1 Functions Contents Robot manipulator Manipulator movement Part names Robot controller Robot initialization number list...
Page 49: Robot Manipulator
Robot manipulator Manipulator movement The XG 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 XG series robots can move as shown in the Fig. below. by attaching 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). Manipulator movement X-axis arm Y-axis Z-axis Y-axis arm X-axis R-axis...
Page 50: Part Names
Part names R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 User tubing 1 ( 4 black) Extension shaft for User tubing 2 ( 4 red) user wiring and tubing User tubing 3 ( 4 blue) D-sub connector for user wiring Cross section A-A (No.1 to 10)
Page 51 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 User tubing 1 6 black) Eyebolt installation position User tubing 2 6 red) User tubing 3 6 blue) D-sub connector for user wiring (No.1 to 20) Machine harness Ball screw Y-axis motor X-axis speed R-axis Y-axis arm reduction gear...
Page 52 R6YXGS300, R6YXGS400 D-sub connector for user wiring D-sub connector for user wiring User tubing 2 ( 4 red) (No.1 to 10) (No.1 to 10) User tubing 1( 4 black) User tubing 2 ( 4 red) Extension shaft for User tubing 1 ( 4 black) user wiring and tubing User tubing 3 ( 4 blue) M4 ground terminal...
Page 53 R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 D-sub connector for user wiring User tubing 1 ( 6 black) (No.1 to 20) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) D-sub connector for user wiring User tubing 1 ( 6 black) (No.1 to 20) M4 ground terminal User tubing 2 ( 6 red)
Page 54: Robot Controller
Robot controller The XG series robot comes supplied with a robot controller YRCX/YRC. For more details, refer to the separate "omRon Robot Controller User's manual". YRC Robot controller MOTOR OP.1 OP.3 BATT OP.2 OP.4 RGEN BATT STD.DIO SAFETY ACIN EXT.E-STOP 13 14...
Page 55: Robot Initialization Number List
" 2. Adjusting the origin" in Chapter 3 and make sure you thoroughly understand the procedure. • When the controller is initialized, the "ARm LEnGTH" and "oFFSET pULSE" settings in the axis parameters will be erased, making the standard coordinate settings invalid. (For details on standard coordinates, see "4. Setting the standard coordinates" in Chapter 3.) If you do not want to change the origin position by initializing, make a note of the "ARm LEnGTH" and "oFFSET pULSE" settings before initializing, and re-enter their settings after initialization is complete. Robot initialization number Model name Robot initialization number Model name 2135 R6YXGL250 2224 R6YXGSW300 2136 R6YXGL350 2225 R6YXGSU300 2226 R6YXGSW400 2137...
Page 57 Installation base Installation Unpacking Checking the product Moving the robot 2-15 2.3.1 Moving the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600 2-15 2.3.2 Moving the R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 2-16 2.3.3 Moving the R6YXGS300 and R6YXGS400 2-18 2.3.4...
Page 58 7.2.3 Robot overrun during impacts with X-axis or Y-axis mechanical stopper 2-67 Limiting the movement range with Z-axis mechanical stopper 2-68 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 2-68 8.1.1 Installing the minus direction stopper 2-69 8.1.2 Installing the plus direction stopper 2-71 8.1.3...
Page 59: Robot Installation Conditions
Avoid installation near objects causing electromagnetic interference, electrostatic discharge or radio frequency interference. vibration Do not subject to impacts or vibrations. below 0.58mpa (6.0kgf/cm ); clean dry air not containing deteriorated compressor oil; filtration Air supply pressure, etc. 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. mALFUnCTIon, FAILURE oR SHoRT CIRCUITS mAY oTHERWISE RESULT. • THIS RoboT WAS noT dESIGnEd FoR opERATIon In EnvIRonmEnTS WHERE InFLAmmAbLE oR EXpLoSIvE SUbSTAnCES ARE pRESEnT. • do noT USE THE RoboT In EnvIRonmEnTS ConTAInInG InFLAmmAbLE GAS, dUST oR LIqUIdS. EXpLoSIonS oR FIRE CoULd oTHERWISE RESULT.
Page 60: Installation Base
These values are instantaneous force values applied to the robot during operation and do not indicate the load resistant values. Maximum reaction force during robot operation Fxmax Mxmax Fzmax Robot Model kgfm R6YXGL250 R6YXGL350 R6YXGS300 R6YXGL400 R6YXGS400 R6YXGL500 R6YXGL600 R6YXG500...
Page 61: Installation
The XG series robot comes packed with a robot controller and accessories, according to the order specifications. Using a carrying cart (dolly) or forklift, move the package to near the installation base. Take sufficient care not to apply shocks to the equipment when unpacking it. Packed state R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 Robot manipulator Robot manipulator Case...
Page 62 Packed state R6YXGS500, R6YXGS600 Robot controller and accessories Robot manipulator Arm clamping stay (Used only for transportation. Remove after installation.) Packed state R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Robot controller and accessories Robot manipulator Arm clamping stay (Used only for transportation. Remove after installation.)
Page 63: Checking The Product
The following configurations are typical examples, so please check that the product is as specified in your order. CAUTION If there is any damage due to transportation or insufficient parts, please notify your distributor immediately. ● Controller : YRCX Robot : R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600...
Page 64 ● Controller : YRCX Robot : R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000...
Page 65 ● Controller : YRCX Robot : R6YXGS300, R6YXGS400...
Page 66 ● Controller :YRCX Robot : R6YXGS500, R6YXGS600...
Page 67 ● Controller : YRCX Robot : R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000...
Page 68 ● Controller : YRC Robot : R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 Product configurations Standard Robot manipulator User’s Manual D-sub connector/hood (×2) Warning label (×1) YRC controller Origin position stickers Standard coordinate setting jig (option) Option PB programming box 2-10...
Page 69 ● Controller : YRC Robot : R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800,R6YXG900, R6YXG1000 Product configurations Standard Robot manipulator User’s Manual YRC controller Stopper (×1) * This stopper is used when changing the Y-axis mechanical stopper positions. Washers (×2) * These washers are used when moving the robot using the eyebolts or when changing the Y-axis mechanical stopper...
Page 70 ● Controller : YRC Robot : R6YXGS300, R6YXGS400 Product configurations Standard Robot manipulator User’s Manual YRC controller Warning label (×1) D-sub connector/hood (×2) Standard coordinate Origin position stickers setting jig (option) Option PB programming box 2-12...
Page 71 ● Controller : YRC Robot : R6YXGS500, R6YXGS600 Product configurations Standard Robot manipulator User’s Manual YRC controller Stopper (×2) * These stoppers are used when changing the mechanical stopper positions. Washers (×2) Spring washers (×2) * These washers are used Washers (×2) when changing the mechanical stopper...
Page 72 ● Controller : YRC Robot : R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Product configurations Standard Robot manipulator User’s Manual YRC controller Stopper (×2) * These stoppers are used when changing the mechanical stopper positions. Washers (×2) * These washers are used when changing the mechanical stopper positions.
Page 73: Moving The Robot
To check the mass of each robot, refer to "1.1 Basic specification" in Chapter 8. 2.3.1 Moving the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600 Fold the arms. Take out the robot from the case or remove it from the pallet. Fold the arms while referring to the Fig. below.
Page 74: Moving The R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900 And R6Yxg1000
2.3.2 Moving the R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 WARNING SERIoUS InJURY mAY oCCUR IF THE RoboT FALLS And pInS SomEonE UndER IT. • CHECK THAT THERE ARE no CRACKS And CoRRoSIon on THE EYEboLT InSTALLATIon. IF FoUnd, do noT USE EYEboLTS To movE THE RoboT. • SCREW THE EYEboLTS SECURELY InTo THE TAppEd HoLES UnTIL THE bEARInG SURFACE oF EYEboLT mAKES TIGHT ConTACT WITH THE bEARInG SURFACE on THE ARm. • USE A HoIST And RopE WITH CARRYInG CApACITY STRonG EnoUGH To SUppoRT THE RoboT WEIGHT. • mAKE SURE THE RopE STAYS SECURELY on THE HoIST HooK. • REmovE ALL LoAdS ATTACHEd To THE RoboT mAnIpULAToR End. IF AnY LoAd IS STILL ATTACHEd, THE RoboT mAY LoSE bALAnCE WHILE bEInG CARRIEd, And ToppLE ovER CAUSInG ACCIdEnTS. CAUTION • When moving the robot by equipment such as cranes that require a license, only properly qualified personnel may operate it. • The equipment and tools used for moving the robot should be serviced daily. The following describes how to correctly and safely move the robot using the R6YXG500 as an example. Move also the R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 in the same manner.
Page 75 Moving the robot Washers (under stay) Bolt Bolt M16×25 (supplied with R6YXG500, R6YXG600) Screw, or bolt Hoist hook Bolt M20×25 and nut (supplied with R6YXGH600 or (4 pieces longer arm robots) supplied) Rope Tightening torque 71Nm (720kgfcm) Arm clamp stay (supplied) Bolts (M4×8) 2 pieces (supplied) Tightening torque 4.5Nm...
Page 76: Moving The R6Yxgs300 And R6Yxgs400
2.3.3 Moving the R6YXGS300 and R6YXGS400 Fold the arms. Take out the robot from the case or remove it from the pallet. Fold the arms while referring to the Fig. below. Moving the robot Robot main body Robot cable Support Support Place the robot on the base.
Page 77: Moving The R6Yxgs500 And R6Yxgs600
2.3.4 Moving the R6YXGS500 and R6YXGS600 WARNING SERIoUS InJURY mAY oCCUR IF THE RoboT FALLS And pInS SomEonE UndER IT. • CHECK THAT THERE ARE no CRACKS And CoRRoSIon on THE EYEboLT InSTALLATIon. IF FoUnd, do noT USE EYEboLTS To movE THE RoboT. • USE A HoIST And RopE WITH CARRYInG CApACITY STRonG EnoUGH To SUppoRT THE RoboT WEIGHT. • mAKE SURE THE RopE STAYS SECURELY on THE HoIST HooK. • REmovE ALL LoAdS ATTACHEd To THE RoboT mAnIpULAToR End. IF AnY LoAd IS STILL ATTACHEd, THE RoboT mAY LoSE bALAnCE WHILE bEInG CARRIEd, And ToppLE ovER CAUSInG ACCIdEnTS. CAUTION • When moving the robot by equipment such as cranes that require a license, only properly qualified personnel may operate it. • The equipment and tools used for moving the robot should be serviced daily. The following describes how to correctly and safely move the robot using the R6YXGS500 as an example. Move also the R6YXGS600 in the same manner.
Page 78 Clamp the Y-axis arm. Secure the arm with the arm clamp stay, bolts, and washers that come with the robot. If the arm position shown in the Fig. below cannot be obtained due to the Y-axis mechanical stoppers, remove them. Securing the Y-axis arm Wall-mount inverse model Pallet...
Page 79 Tighten the eyebolts. Tighten two eyebolts through washers and spring washers into the positions where the bolts have been removed in Step 4. Tightening the eyebolts Eyebolt Spring washer Washer Washer Spring washer Eyebolt Wall-mount model Wall-mount inverse model NOTE If the eyebolt is tightened excessively, this may cause the tapped hole to break.
Page 80 Pass two ropes through the eyebolts and hang them on the hoist. Use looped ropes with the same length to allow a good lifting balance. Passing ropes through the eyebolts Eyebolt Washer Spring washer Spring washer Washer Eyebolt Wall-mount model Wall-mount inverse model Hold the robot and remove the mounting bolts.
Page 81 Temporarily secure the robot to the base by tightening the bolts. NOTE • For details about tightening torque to secure the robot firmly, see "2.4 Installing the robot". • When installing the robot, the positioning pins can be used. For details about positions and dimensions, see "1.2 External view and dimensions" in Chapter 8. Remove the ropes, eyebolts, washers, and arm clamp stay. Remove the X-axis mechanical stoppers. Remove the X-axis mechanical stoppers that have been installed in Step 6. Screw the bolts into the eyebolt clamp holes and mechanical stopper clamp holes.
Page 82: Moving The R6Yxgs700, R6Yxgs800, R6Yxgs900 And R6Yxgs1000
2.3.5 Moving the R6YXGS700, R6YXGS800, R6YXGS900 and R6YXGS1000 WARNING SERIoUS InJURY mAY oCCUR IF THE RoboT FALLS And pInS SomEonE UndER IT. • CHECK THAT THERE ARE no CRACKS And CoRRoSIon on THE EYEboLT InSTALLATIon. IF FoUnd, do noT USE EYEboLTS To movE THE RoboT. • USE A HoIST And RopE WITH CARRYInG CApACITY STRonG EnoUGH To SUppoRT THE RoboT WEIGHT. • mAKE SURE THE RopE STAYS SECURELY on THE HoIST HooK. • REmovE ALL LoAdS ATTACHEd To THE RoboT mAnIpULAToR End. IF AnY LoAd IS STILL ATTACHEd, THE RoboT mAY LoSE bALAnCE WHILE bEInG CARRIEd, And ToppLE ovER CAUSInG ACCIdEnTS. CAUTION • When moving the robot by equipment such as cranes that require a license, only properly qualified personnel may operate it. • The equipment and tools used for moving the robot should be serviced daily. The following describes how to correctly and safely move the robot using the R6YXGS700 as an example. Move also the R6YXGS800, R6YXGS900 and R6YXGS1000 in the same manner.
Page 83 Secure the Y-axis arm. Secure the arm with the arm clamp stay, bolts, and washers that come with the robot. If the arm position shown in the Fig. below cannot be obtained due to the Y-axis mechanical stoppers, remove them. Securing the Y-axis arm Transportation jig Pallet...
Page 84 Secure two transportation jigs. Secure two transportation jigs to the top of the X-axis arm. Securing the transportation jigs Eyebolt is installed on the base side. Eyebolt is installed on the spline side. Wall-mount model Wall-mount inverse model Secure the robot cable. Wind the robot cable around the side of the robot base so that it does not run on the installation portion of the base, and then secure the cable with adhesive tapes.
Page 85 Pass four ropes through the eyebolts and hang them on the hoist. Use looped ropes with the same length to allow a good lifting balance. Passing ropes through the eyebolts Wall-mount model Wall-mount inverse model Hold the robot and remove the mounting bolts. Slightly lift the hoist so that the tension is lightly applied to each rope to hold the robot.
Page 86 Temporarily secure the robot to the base by tightening the bolts. NOTE • For details about bolt tightening torque, see "2.4 Installing the robot" in this Chapter. • When installing the robot, the positioning pins can be used. For details about positions and dimensions, see "1.2 External view and dimensions" in Chapter 8. Remove the ropes, transportation jigs, and arm clamp stay. Remove the X-axis mechanical stoppers. Remove the X-axis mechanical stoppers that have been installed in Step 6. Attach the bolts to the X-axis arm.
Page 87: Installing The Robot
Install the robot securely with the four hex socket head bolts (six bolts for wall-mount model/wall-mount inverse model) as shown in the Fig. below. 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. IF THE boLTS ARE noT TIGHTEnEd CoRRECTLY, THE RoboT mIGHT FALL ovER dURInG opERATIon CAUSInG A SERIoUS ACCIdEnT. Tightening torque Robot Model Bolts Used Tightening torque R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 37nm (380kgfcm) R6YXG500, R6YXG600 71nm (720kgfcm) R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 128nm (1310kgfcm) R6YXGS300, R6YXGS400 37nm (380kgfcm) R6YXGS500, R6YXGS600 71nm (720kgfcm) R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000...
Page 88: Protective Bonding
When the end effector uses an electrical device which, if it malfunctions, might make contact with the power supply, the user must provide proper grounding on his own responsibility. The XG 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". 2-30...
Page 89: Robot Cable Connection
Robot cable connection The robot cable is pre-connected to the XG 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 "4.5.1 Trial Operation" in Chapter “Safety Instructions” of this manual. WARNING • bEFoRE ConnECTInG THE CAbLES, CHECK THAT THERE ARE no bEndS oR bREAKS In THE ConnECToR pInS...
Page 90: User Wiring And User Tubing
The XG series robots are equipped with user wires and air tubes in the machine harness. The table below shows the number of wires and air tubes available for each robot model. Robot Model User wiring User tubing R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, 10 wires 4, 3 tubes R6YXGS400 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000...
Page 91 Signal wiring connections in the machine harness ■ • R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 Connector pins 1 to 10 can be used. Pin 15 is connected to a shield wire and cannot be used as a signal wire. Signal Connector Connection Connector Color Brown...
Page 92 Fasten user cable or tube newly with the machine harness while referring to "11. Installing the user wiring and tubing newly" in this Chapter. D-sub connectors (supplied with robot) R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 Part Name OMRON Part No.
Page 93: Attaching The End Effector
Z-axis, and R-axis. The symbol I ) indicates the moment of inertia of the load around the R-axis and the symbol m indicates the tip mass. It is necessary only for the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 to reduce the Z-axis acceleration according to the moment of inertia around the R-axis so as to ensure the service life of the spline. This is shown in "6.1.6 Acceleration coefficient vs. moment of inertia (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400)".
Page 94: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl250)
6.1.1 Acceleration coefficient vs. moment of inertia (R6YXGL250) m=1 to 5kg 0.01 0.02 0.03 0.04 0.05 Ir (kgm Jr (kgfcmsec m=1 to 5kg 0.0001 0.0002 0.0003 0.0004 0.0005 0.0006 0.0007 0.0008 0.0009 0.001 Ir (kgm 0.001 0.002 0.003 0.004 0.005 0.006...
Page 95: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl350, R6Yxgs300)
6.1.2 Acceleration coefficient vs. moment of inertia (R6YXGL350, R6YXGS300) m=1 to 5kg 0.01 0.02 0.03 0.04 0.05 Ir (kgm Jr (kgfcmsec m=1 to 5kg 0.0001 0.0002 0.0003 0.0004 0.0005 0.0006 0.0007 0.0008 0.0009 0.001 Ir (kgm 0.001 0.002 0.003 0.004 0.005 0.006 0.007...
Page 96: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl400, R6Yxgs400)
6.1.3 Acceleration coefficient vs. moment of inertia (R6YXGL400, R6YXGS400) m=1 to 5kg 0.01 0.02 0.03 0.04 0.05 Ir (kgm Jr (kgfcmsec m=1 to 5kg 0.0001 0.0002 0.0003 0.0004 0.0005 0.0006 0.0007 0.0008 0.0009 0.001 Ir (kgm 0.001 0.002 0.003 0.004 0.005 0.006 0.007...
Page 97: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl500)
6.1.4 Acceleration coefficient vs. moment of inertia (R6YXGL500) m=1 to 5kg Ir (kgm 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 Jr (kgfcmsec 0.05 0.15 0.25 0.35 0.45 m=1 to 5kg 0.0005 0.001 0.0015 0.002 0.0025 0.003 0.0035 0.004 0.0045 0.005...
Page 98: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl600)
6.1.5 Acceleration coefficient vs. moment of inertia (R6YXGL600) m=1 to 5kg 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 Ir (kgm 0.05 0.15 0.25 0.35 0.45 Jr (kgfcmsec m=1 to 5kg Ir (kgm 0.0005 0.001 0.0015 0.002 0.0025 0.003 0.0035 0.004...
Page 99: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxgl250, R6Yxgl350, R6Yxgl400, R6Yxgl500, R6Yxgl600, R6Yxgs300, R6Yxgs400)
6.1.6 Acceleration coefficient vs. moment of inertia (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) m=1 to 5kg Ir (kgm 0.01 0.02 0.03 0.04 0.05 0.06 Jr (kgfcmsec 6.1.7 Acceleration coefficient vs. moment of inertia (R6YXG500, R6YXGS500) m=1 to 10kg 0.04 (0.4) 0.05...
Page 100: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxg600, R6Yxgs600)
6.1.8 Acceleration coefficient vs. moment of inertia (R6YXG600, R6YXGS600) m=1 to 10kg 0.03 (0.3) 0.05 0.15 0.25 Ir (kgm Jr (kgfcmsec 6.1.9 Acceleration coefficient vs. moment of inertia (R6YXGH600) m=1 to 20kg 0.03 (0.3) Ir (kgm 10.0 Jr (kgfcmsec 2-42...
Page 101: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxg700, R6Yxg800, R6Yxgs700, R6Yxgs800)
6.1.10 Acceleration coefficient vs. moment of inertia (R6YXG700, R6YXG800, R6YXGS700, R6YXGS800) m=1 to 20kg 0.02 (0.2) Ir (kgm 10.0 Jr (kgfcmsec 6.1.11 Acceleration coefficient vs. moment of inertia (R6YXG900, R6YXG1000, R6YXGS900, R6YXGS1000) m=1 to 20kg 0.07 (0.7) Ir (kgm 10.0 Jr (kgfcmsec 2-43...
Page 102: 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. The total of the moment of inertia for these factors is then obtained.
Page 103 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) rp D (kgm rp D (kgfcmsec ...
Page 104 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 Center line (kgm ) + mx (kgfcmsec ... (6) In the same manner, the moment of inertia of a prism as shown in the Fig. below is given by Moment of inertia of a prism Center line rabc(a...
Page 105: 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 is 0.0078kg/cm Example of moment of inertia calculation (The chuck and workpiece are at a position offset by 10 cm from the R-axis by the stay.) R-axis Stay Chuck...
Page 106 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 107: Attaching The End Effector
Maximum load applied to end effector attachment F XY max F Z max F R max M R max Mmax Robot Model kgfm kgfm R6YXGL250 R6YXGL350, R6YXGS300 R6YXGL400, R6YXGS400 R6YXGL500 R6YXGL600 R6YXG500, R6YXGS500 R6YXG600, R6YXGS600 R6YXGH600 R6YXG700, R6YXGS700 R6YXG800, R6YXGS800...
Page 108: Attaching The End Effector
Next, the following shows the recommended end effector attaching method. Attaching the end effector Hole diameter Bolt Slot Spline shaft End effector or stay Attaching the end effector R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 (Tool flange mount type) Tool flange M4 bolt Stay Tightening torque Number Hole diameter...
Page 109 Installing to the standard stopper +0.012 4 H7 through hole Tool flange mount type Nut (6) tool A R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 * Do not remove the standard stopper. Never loosen this bolt. Stopper damper (1) Stopper damper (4) Bolt (2)
Page 110: Gripping Force Of End Effector
When the R-axis rotates during operation, this acceleration ARmax must be taken into account. WARNING THE GRIppInG FoRCE oF THE End EFFECToR mUST HAvE A SUFFICIEnT EXTRA mARGIn oF STREnGTH To pREvEnT THE WoRKpIECE FRom ComInG LooSE And FLYInG oFF dURInG RoboT opERATIon. IF THE GRIppInG FoRCE IS Too WEAK, THE WoRKpIECE mAY ComE LooSE And FLY oFF CAUSInG ACCIdEnTS oR InJURIES. Maximum acceleration during robot operation Robot Model Amax(m/sec A XY max(m/sec A Z max(m/sec A R max(rad/sec R6YXGL250 R6YXGL350, R6YXGS300 R6YXGL400, R6YXGS400 R6YXGL500 R6YXGL600 R6YXG500, R6YXGS500 R6YXG600, R6YXGS600 R6YXGH600 R6YXG700, R6YXGS700 R6YXG800, R6YXGS800 R6YXG900, R6YXGS900...
Page 111: Limiting The Movement Range With X-Axis And Y-Axis Mechanical Stoppers
The movement range can be limited by shifting the X-axis and Y-axis mechanical stopper positions. Follow the steps below to limit the movement range. R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 The following shows the mechanical stopper positions and movement range.
Page 112 Mechanical stopper position and maximum movement position Y-axis standard stopper position Y-axis additional stopper (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600) (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600) Y-axis standard stopper position (R6YXGS300) Y-axis additional stopper (R6YXGS300) As option parts are ordered, and then they are installed, the movement ranges of the X-axis and Y-axis can be narrowed.
Page 113: Installing The X-Axis/Y-Axis Additional Mechanical Stoppers
R6YXGS400 Standard stopper Additional stopper Stopper position in X-axis plus or minus direction 127° Maximum movement position in X-axis plus or minus direction 125° Stopper position in Y-axis plus or minus direction 146° 127° Maximum movement position in Y-axis plus or minus direction 144°...
Page 114 Turn off the controller. 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. Enter the safety enclosure. Step 4 Removing the tapped-hole plug bolts and washers Remove the bolts and washers.
Page 115: Robot Overrun During Impacts With X-Axis Or Y-Axis Mechanical Stopper
Installing the additional stoppers in both the plus and minus directions ■ Install the additional stoppers in both the plus and minus directions while referring to the Fig. below. Installing the additional stoppers in both the plus and minus directions Use the bolt and washer to protect the tapped hole.
Page 116: R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000 R6Yxgs500, R6Yxgs600, R6Yxgs700, R6Yxgs800, R6Yxgs900, R6Yxgs1000
R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 The following shows the movement ranges. Stopper position in plus direction R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 12° 43° * Values in parentheses apply to the R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000. Stopper position in minus direction R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 * Values in parentheses apply to the R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000.
Page 117 Stopper position in X-axis plus direction R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 (*) R6YXGS500 and R6YXGS600 only Stopper position in X-axis minus direction R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 (*) R6YXGS500 and R6YXGS600 only 2-59...
Page 118 Stopper position in Y-axis plus direction R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 R6YXGS500 87° 127° R6YXGS600 107° 147° R6YXGS700 101° 132° R6YXGS800 116° 147° R6YXGS900 121° 152° R6YXGS1000 Stopper position in Y-axis minus direction R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 R6YXGS500 82°...
Page 119 The X-axis stopper position can be changed by shifting the existing stopper position. The Y-axis stopper position can be changed by installing the supplied parts. The following describes the necessary procedures. NOTE Note that the mechanical stopper position may slightly deviate due to the part machining accuracy. Additionally, set the soft limits to the values shown below after the mechanical stopper position has been changed.
Page 120: Changing The X-Axis Mechanical Stopper Position
R6YXGS600 Y-axis stopper position Soft limit (pulses) Working envelope ±147° (maximum working envelope position) ±527928 ±145° +107° +378652 +104° -102° -360448 -99° R6YXGS700 Y-axis stopper position Soft limit (pulses) Working envelope ±132° (maximum working envelope position) ±473316 ±130° +101° +356808 +98° -94° -331321 -91° R6YXGS800 Y-axis stopper position Soft limit (pulses) Working envelope ±147° (maximum working envelope position)
Page 121 R6YXGS700, R6YXGS800, position where the X-axis mechanical stopper has R6YXGS900, R6YXGS1000 been installed before moving. * Be sure to use the bolts supplied by OMRON. Check that the movement range is limited. Installing the mechanical stopper and washer Step 6-7 Check that the movement range is limited by the mechanical stopper that has been moved.
Page 122: Changing The Y-Axis Mechanical Stopper Position
7.2.2 Changing the Y-axis mechanical stopper position The Y-axis mechanical stopper position is changed by installing the supplied parts. Supplied parts ■ R6YXG500, R6YXG600 Part No. Q'ty Remarks (supplied) KbF-m1123-001 Washer (*2) Additional mechanical stopper parts in either one direction of Y-axis plus or minus direction (*1) 91312-08016 Bolt R6YXGS500, R6YXGS600...
Page 123 Installing the washer and bolt (1) Bolt (2) Washer (1) Bolt Tightening Tightening Robot model size torque (kgfcm) torque (Nm) R6YXG500, R6YXG600 37.2 R6YXGS500, R6YXGS600 R6YXGH600, R6YXG700, R6YXG800,R6YXG900, R6YXG1000 45.0 R6YXGS700, R6YXGS800, R6YXGS900,R6YXGS1000 * Be sure to use the bolts supplied by OMRON. 2-65...
Page 124 R6YXGS500, R6YXGS600 R6YXGH600, R6YXG700, R6YXG800,R6YXG900, R6YXG1000 45.0 R6YXGS700, R6YXGS800, R6YXGS900,R6YXGS1000 * Be sure to use the bolts supplied by OMRON. Changing the tapped-hole plug screw Step 3-5 and standard stopper position Bolt Washer Tapped-hole plug screw Standard stopper after moved.
Page 125: Robot Overrun During Impacts With X-Axis Or Y-Axis Mechanical Stopper
7.2.3 Robot overrun during impacts with X-axis or Y-axis mechanical stopper A urethane damper is installed to absorb the shock when an impact occurs with the mechanical stopper, so a certain amount of overrun occurs when the robot strikes the mechanical stopper. Use caution and take overrun into account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.
Page 126: Limiting The Movement Range With Z-Axis Mechanical Stopper
CAUTION After the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical stopper positions. R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 Limiting the movement range using Z-axis mechanical stopper Additional plus...
Page 127: Installing The Minus Direction Stopper
After installing the mechanical stoppers, set the soft limits to the values shown below. Soft limits after installing additional stoppers ■ Soft limit (pulses) Working envelope Working envelope in Z-axis plus direction 16384 (137.4-(L )) /12 137.4-(L Working envelope in Z-axis minus direction -683 -0.5mm minimum value = 11, L...
Page 128 Install the additional stopper. Install the additional stopper (4) to the spline shaft by tightening the supplied bolts to the specified torque. • Tightening torque: 9 nm (92 kgfcm) Alternately tighten the bolts a little at a time. NOTE For the minus direction stopper position, depending on the relation to the Z-axis origin reference adjustment, L stated in the "■ Z-axis stopper positions" table described previously will be a position at 3mm intervals, such as approximately 12mm, 15mm, etc. Go out of the safety enclosure.
Page 129: Installing The Minus Direction Stopper
Set the soft limits. See the Table "n Soft limits after installing additional stoppers". The soft limit in the minus direction is already set by default to the value shown in the Table "n Soft limits after installing additional stoppers". Check that Z-axis stops firmly.
Page 130: Overrun Amounts During Impacts With Z-Axis Additional Mechanical Stopper
Install the additional stopper. Install the additional stopper (1) to the ball screw by tightening the bolts (3) to the specified torque shown below. • Tightening torque: 4.5 nm (46 kgfcm) Alternately tighten the bolts a little at a time. The stopper position in the plus direction L must be 4mm or more. Secure the urethane damper. Widen the notch part of the urethane damper (2), pass it through the ball screw shaft, and bond it onto the additional stopper (1) in the Z-axis plus direction using adhesive. Use Threebond 1739 instant adhesive as the adhesive. Fully degrease the bonding surfaces before applying the adhesive. Go out of the safety enclosure.
Page 131: R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000 R6Yxgs500, R6Yxgs600, R6Yxgs700, R6Yxgs800, R6Yxgs900, R6Yxgs1000
R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Limiting the movement range using Z-axis mechanical stopper Standard plus direction stopper Additional plus direction stopper Added minus direction stopper Standard minus direction stopper Standard Z-axis origin position New origin * Values in parentheses apply to the R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000, R6YXGS700, R6YXGS800, R6YXGS900 and R6YXGS1000.
Page 132 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 Z=400mm stroke type R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Z=400mm stroke type Standard stopper Additional stopper Stopper position in Z-axis plus direction (*1) 412mm 412-L maximum movement position in Z-axis plus direction (*1) 400mm 400-L Stopper position in Z-axis minus direction (*1) -6mm -6mm maximum movement position in Z-axis minus direction (origin position) (*1) mm (*2) *1 : The Z-axis movement range and working envelope indicate the positions when the downward direction relative to the initial Z-axis origin position is set as the plus direction.
Page 133: Installing The Minus Direction Stopper
8.2.1 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. Turn off the controller. 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. Enter the safety enclosure.
Page 134 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 17. When the machine reference is beyond the allowable range, proceed to step 12. Turn off the controller. Enter the safety enclosure. Put a mark at the additional stopper position. Loosen the stopper bolt. machine reference value < 26%: move the additional stopper in the plus direction.
Page 135: Installing The Plus Direction Stopper
8.2.2 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. Turn off the controller. 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. Enter the safety enclosure.
Page 136: Overrun Amounts During Impacts With Z-Axis Additional Mechanical Stopper
Set the soft limits. Set the soft limits in the plus direction while referring to the calculation values shown in the Table "nSoft limits after installing additional stoppers" described previously. 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 137: Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope
Working envelope and mechanical stopper positions for maximum working envelope Working envelope of each robot and mechanical stopper positions for the maximum working envelope are shown in "1.2 External view and dimensions" in Chapter 8. Here, those are described using the R6YXG500 as an example. Other robot models are the same. X and Y axes ■...
Page 138 Interference positions and radii in movement range Maximum movement range X-axis mechanical stopper: 132° Y-axis mechanical stopper: 147° *Do not operate the robot in an area outside the working envelope. Interference position (a) Base front panel (b) Base side panel (c) Base rear panel (d) Base corners Z-axis...
Page 139 Z-axis Robot model X-axis Y-axis Upper end Lower end R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, 8° 4° R6YXGL600, R6YXGS300, R6YXGS400 R6YXG500, R6YXG600 9° 12° R6YXGS500, R6YXGS600 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 9°...
Page 140: 10. Stopping Time And Stopping Distance At Emergency Stop
XY-axis stopping time for R6YXGL250 1.6kg XY-axis 3.3kg XY-axis 0.35 5kg XY-axis 0.25 0.15 0.05 Operation speed (%) XY-arm stopping rotation angle for R6YXGL250 1.6kg X-axis 1.6kg Y-axis 3.3kg X-axis 3.3kg Y-axis 5kg X-axis 5kg Y-axis Operation speed (%) 2-82...
Page 141 XY-axis stopping time for R6YXGL350 and R6YXGS300 0.45 1.6kg 3.3kg 0.35 0.25 0.15 0.05 Operation speed (%) XY-arm stopping rotation angle for R6YXGL350 and R6YXGS300 1.6kg X-axis 1.6kg Y-axis 3.3kg X-axis 3.3kg Y-axis 5kg X-axis 5kg Y-axis Operation speed (%) 2-83...
Page 142 XY-axis stopping time for R6YXGL400 and R6YXGS400 1.6kg 3.3kg Operation speed (%) XY-arm stopping rotation angle for R6YXGL400 and R6YXGS400 1.6kg X-axis 1.6kg Y-axis 3.3kg X-axis 3.3kg Y-axis 5kg X-axis 5kg Y-axis Operation speed (%) 2-84...
Page 143 XY-axis stopping time for R6YXGL500 1.6kg 3.3kg Operation speed (%) XY-arm stopping rotation angle for R6YXGL500 1.6kg X-axis 3.3kg X-axis X-axis 1.6kg Y-axis 3.3kg Y-axis Y-axis Operation speed (%) 2-85...
Page 144 XY-axis stopping time for R6YXGL600 1.6kg 3.3kg Operation speed (%) XY-arm stopping rotation angle for R6YXGL600 1.6kg X-axis 3.3kg X-axis X-axis 1.6kg Y-axis 3.3kg Y-axis Y-axis Operation speed (%) 2-86...
Page 145 Z-axis stopping time for R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 0.06 1.6kg 3.3kg 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 1.6kg 3.3kg Operation speed (%)
Page 146: R6Yxg500, R6Yxg600, R6Yxgs500, R6Yxgs600
10.2 R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 XY-axis stopping time for R6YXG500 and R6YXGS500 3.3kg XY-axis 6.6kg XY-axis 10kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG500 and R6YXGS500 3.3kg X-axis 3.3kg Y-axis 6.6kg X-axis 6.6kg Y-axis 10kg X-axis 10kg Y-axis Operation speed (%) 2-88...
Page 147 XY-axis stopping time for R6YXG600 and R6YXGS600 3.3kg XY-axis 6.6kg XY-axis 10kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG600 and R6YXGS600 3.3kg X-axis 3.3kg Y-axis 6.6kg X-axis 6.6kg Y-axis 10kg X-axis 10kg Y-axis Operation speed (%) 2-89...
Page 148 Z-axis stopping time for R6YXG500 and R6YXGS500 Z200 0.07 3.3kg 6.6kg 0.06 10kg 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXG500 and R6YXGS500 Z200 3.3kg 6.6kg 10kg Operation speed (%) 2-90...
Page 149 Z-axis stopping time for R6YXG600 and R6YXGS600 Z200 0.07 3.3kg 6.6kg 0.06 10kg 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXG600 and R6YXGS600 Z200 3.3kg 6.6kg 10kg Operation speed (%) 2-91...
Page 150 Stopping time for R6YXG500, R6YXG600, R6YXGS500 and R6YXGS600 Z300 0.07 3.3kg Z-axis 6.6kg Z-axis 0.06 10kg Z-axis 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Stopping distance for R6YXG500, R6YXG600, R6YXGS500 and R6YXGS600 Z300 3.3kg 6.6kg 10kg Operation speed (%) 2-92...
Page 151: R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000 R6Yxgs700, R6Yxgs800, R6Yxgs900, R6Yxgs1000
10.3 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 XY-axis stopping time for R6YXGH600 6.6kg XY-axis 13.2kg XY-axis 20kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXGH600 6.6kg X-axis 6.6kg Y-axis 13.2kg X-axis 13.2kg Y-axis 20kg X-axis 20kg Y-axis Operation speed (%) 2-93...
Page 152 XY-axis stopping time for R6YXG700 and R6YXGS700 6.6kg XY-axis 13.2kg XY-axis 20kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG700 and R6YXGS700 6.6kg X-axis 6.6kg Y-axis 13.2kg X-axis 13.2kg Y-axis 20kg X-axis 20kg Y-axis Operation speed (%) 2-94...
Page 153 XY-axis stopping time for R6YXG800 and R6YXGS800 6.6kg XY-axis 13.2kg XY-axis 20kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG800 and R6YXGS800 6.6kg X-axis 6.6kg Y-axis 13.2kg X-axis 13.2kg Y-axis 20kg X-axis 20kg Y-axis Operation speed (%) 2-95...
Page 154 XY-axis stopping time for R6YXG900 and R6YXGS900 6.6kg XY-axis 13.2kg XY-axis 20kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG900 and R6YXGS900 6.6kg X-axis 6.6kg Y-axis 13.2kg X-axis 13.2kg Y-axis 20kg X-axis 20kg Y-axis Operation speed (%) 2-96...
Page 155 XY-axis stopping time for R6YXG1000 and R6YXGS1000 6.6kg XY-axis 13.2kg XY-axis 20kg XY-axis Operation speed (%) XY-arm stopping rotation angle for R6YXG1000 and R6YXGS1000 6.6kg X-axis 6.6kg Y-axis 13.2kg X-axis 13.2kg Y-axis 20kg X-axis 20kg Y-axis Operation speed (%) 2-97...
Page 156 Z-axis stopping time for R6YXGH600 Z400 0.09 6.6kg 13.2kg 0.08 20kg 0.07 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXGH600 Z400 6.6kg 13.2kg 20kg Operation speed (%) 2-98...
Page 157 Z-axis stopping time for R6YXG700 and R6YXGS700 Z200 6.6kg 0.09 13.2kg 20kg 0.08 0.07 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXG700 and R6YXGS700 Z200 6.6kg 13.2kg 20kg Operation speed (%) 2-99...
Page 158 Z-axis stopping time for R6YXG700 and R6YXGS700 Z400 6.6kg Z-axis 0.09 13.2kg Z-axis 20kg Z-axis 0.08 0.07 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXG700 and R6YXGS700 Z400 6.6kg 13.2kg 20kg Operation speed (%) 2-100...
Page 159 Z-axis stopping time for R6YXGH600 Z200, R6YXG800, R6YXG900 and R6YXG1000 Z-axis stopping time for R6YXGS800, R6YXGS900 and R6YXGS1000 6.6kg 0.09 13.2kg 20kg 0.08 0.07 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Z-axis stopping distance for R6YXGH600 Z200, R6YXG800, R6YXG900 and R6YXG1000 Z-axis stopping distance for R6YXGS800, R6YXGS900 and R6YXGS1000 6.6kg 13.2kg...
Page 160: 11. Installing The User Wiring And Tubing Newly
Signal line Signal line outside diameter Tube outside diameter Robot model D (mm) × quantity d (mm) × quantity R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, 6 × 1 pc. 4 × 3 pcs. R6YXGS300, R6YXGS400 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 10 ×...
Page 161: Passing The Wiring And Tubing In The User Wiring/Tubing Through Spline Type
12. Passing the wiring and tubing in the user wiring/tubing through spline type In the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 with the user wiring/tubing through spline type, the user wiring and tubing can be passed through the spline.
Page 162: 13. Detaching Or Attaching The Covers
CAUTION In the user wiring/tubing through spline type, the cover cannot be detached unless the Z-axis is moved down to the lower end. R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 Y-axis arm cover Y-axis arm cover mounting screw Bind machine screw M3, length 6, 4 pcs.
Page 163 R6YXGS300, R6YXGS400 Base top-face cover Base top-face cover securing bolt Hex socket head bolt M4, length 8, 4 pcs. Y-axis arm cover Boss (inside) Base front cover Base front cover mounting screw Bind machine screw M4, length 8, 4 pcs. Y-axis arm cover mounting screw Bind machine screw M3, length 6, 4 pcs.
Page 164 R6YXG500, R6YXG600 Harness cover Harness cover mounting screw Bind machine screw M4, length 10, 4 pcs. X-axis arm end cap X-axis arm end cap mounting bolt Y-axis arm end cap Hex socket head bolt M3, length 16, 4 pcs. × 2 Y-axis arm end cap mounting bolt Hex socket head bolt M3, length 16, 4 pcs.
Page 165 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 Harness cover mounting screw Bind machine screw M4, length 10, 4 pcs. Harness cover Y-axis arm end cap X-axis arm end cap X-axis arm end cap mounting bolt Hex socket head bolt M3, length 16, 4 pcs. × 2 Y-axis arm end cap mounting bolt Hex socket head bolt M4, length 16, 4 pcs.
Page 166 R6YXGS500, R6YXGS600 Base cover Sensor protection cover Sensor protection cover mounting bolt Base cover mounting bolt Hex socket head bolt M4, length 10, 3 pcs. Hex socket head bolt M4, length 10, 4 pcs. Toothed washer, inside diameter 4.3, 4 pcs. Y-axis motor cover Y-axis motor cover mounting screw Bind machine screw M3, length 8, 4 pcs.
Page 167 R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Sensor protection cover Base cover Sensor protection cover mounting bolt Base cover mounting bolt Hex socket head bolt M4, length 10, 3 pcs. Hex socket head bolt M5, length 12, 6 pcs. Toothed washer, inside diameter 5.3, 6 pcs. Y-axis motor cover Y-axis motor cover mounting screw Bind machine screw M3, length 8, 4 pcs.
Page 168: Installing The Extension Shaft (For User Wiring/Tubing Through Spline Type)
14. Installing the extension shaft (for user wiring/ tubing through spline type) WARNING bEFoRE STARTInG THE WoRK, THoRoUGHLY REAd "13. dETACHInG oR ATTACHInG THE CovERS" In THIS CHApTER. The extension shaft necessary to pass the user wiring and tubing through the spline can be retrofitted. The following option parts are needed. Part No. Q'ty Remarks KCY-m1872-000...
Page 169 Installing the extension shaft Extension shaft (1) Bolt (2) Upper nut Go out of the safety enclosure. 2-111...
Page 170: 15. Installing The Tool Flange
15. Installing the tool flange The tool flange can be retrofitted. The following option parts are needed. Part No. Q'ty Remarks KCY-m1790-000 Tool flange Removing the stopper Step 4 91312-05014 Bolt 92A08-05308 Set screw 90K41-001490 Warning label CAUTION When the tool flange is installed, set the tip mass parameter as follows. Tip mass parameter = Actual tip mass + 1 (kg) Urethane damper Failure to make this setting may shorten the service life of...
Page 171: 16. 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 R6YXGL250 R6YXGL350 (kgf) (kgf) Z=0~80mm...
Page 172 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL600 (kgf) (kgf) R6YXGL500, R6YXGL600 R (mm) R (mm) * The vertical distance from the Z-axis origin position to the load must not exceed 200mm. R6YXG500 R6YXG600 (kgf) (kgf) Z=0~230mm Z=0~220mm Z=300mm Z=300mm Z=350mm Z=350mm R (mm)
Page 173 R6YXGH600 R6YXG700 (kgf) (kgf) Z=0~270mm Z=0~270mm Z=360mm Z=360mm Z=450mm Z=450mm R (mm) R (mm) R6YXGH600, R6YXG700 (kgf) R (mm) * The vertical distance from the Z-axis origin position to the load must not exceed 450mm. R6YXG800 R6YXG900 (kgf) (kgf) Z=0~300mm Z=0~350mm Z=370mm Z=400mm...
Page 175 3-36 Setting the standard coordinates 3-37 Standard coordinate setting using a standard coordinate setup jig 3-38 4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 3-38 4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 3-39...
Page 177: Overview
Overview 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. CAUTION • Read and understand the contents of this chapter completely before attempting to set the robot.
Page 178: Adjusting The Origin
However, absolute reset is required if any of the following cases occur. The robot is shipped from the factory in condition "3." (below), so please perform absolute reset after installing the robot. For more details on absolute reset, refer to "Absolute Reset" in Chapter 4 of the "omRon Robot Controller User's manual". Absolute-related error occurred on the axis. Power drop was detected in the absolute battery for the driver installed inside the robot controller.
Page 179: Stroke End Method (Z-Axis)
2.1.2 Stroke end method (Z-axis) In the stroke end method, absolute reset is performed at a position slightly backed off from the stroke end, after the Z-axis contacts the mechanical stopper and stroke end is detected. WARNING SERIoUS InJURY mIGHT oCCUR FRom pHYSICAL ConTACT WITH THE RoboT dURInG opERATIon. nEvER EnTER WITHIn THE RoboT movEmEnT RAnGE dURInG AbSoLUTE RESET. Machine reference The XG series position detectors are resolvers that have four positions where absolute reset can be performed per motor revolution.
Page 180 Machine reference display on PB screen * In the screen illustration below, a section of the screen shown by the marks is omitted. ＭＡＮＵＡＬ５０％［Ｓ０Ｈ０］Ｍａｃｈｉｎｅｒｅｆｅｒｅｎｃｅ（％）Ｍ１＝５１Ｍ２＝５７Ｍ３＝５１Ｍ４＝５２ＰＯＩＮＴＯＲＩＧＩＮＶＥＬ＋ＶＥＬ− X-axis Z-axis R-axis Y-axis...
Page 181: Absolute Reset Procedures
• 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". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. Place a sign indicating the robot is being adjusted.
Page 182: Stroke End Method (Z-Axis) With Yrcx Controller
• 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". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. Place a sign indicating the robot is being adjusted.
Page 183 NOTE As the absolute reset operations of the Z-axis and R-axis are performed simultaneously, you can select either axis number 3 or 4. Perform the absolute reset. The absolute reset execution confirmation screen pops Check that there are no obstacles within the movement range, and then press .
Page 184: Sensor Method (X-Axis, Y-Axis And R-Axis) With Yrc Controller
The operation procedure using the PB is described below. NOTE • To return to the previous operation step, press the key. • For details about how to operate the robot controller, see the "omRon Robot Controller User's manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. Place a sign indicating the robot is being adjusted.
Page 185: Stroke End Method (Z-Axis) With Yrc Controller
Check the machine reference value. After the absolute reset has been completed, check that the machine reference value displayed on the PB is between 40 and 60 (recommended range). (For R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600, the recommended ange is between 30 and 70.) If the machine reference value is outside the recommended range, then the next absolute reset may not be properly performed.
Page 186 Ｓｔａｒｔｉｎｇｏｒｉｇｉｎｓｅａｒｃｈ Check the machine reference value. After the absolute reset has been completed, check that the machine reference value displayed on the PB is within the absolute reset tolerance range (25 to ＲｅｓｅｔＡＢＳＯＫ？ＹＥＳＮＯ 75). (For R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600, the recommended range is between 30 and 70.) Step 8 Machine reference value CAUTION ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］...
Page 187: Changing The Origin Position And Adjusting The Machine Reference
If the origin position changes after the machine reference has been adjusted, then the standard coordinate and point data must be reset. 2.4.1 Sensor method (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) Adjusting the X-axis machine reference ■ CAUTION • The origin position may change due to machine reference adjustment.
Page 188 Loosen the hex nut. Adjusting the X-axis machine reference value Step 8-15 (R6YXGS300, R6YXGS400) Using the wrench, loosen the hex nut that secures the X-axis origin sensor. CAUTION It is enough to loosen the nut. Do not remove the nut completely.
Page 189 Changing the X-axis origin position ■ The X-axis origin position can be changed to any position in the range from the base front position of the X-axis to a maximum of 120° clockwise and counterclockwise at 30° intervals, by changing the positions of the dog and the mounting bolt for the X-axis speed reduction unit as shown below.
Page 190 NOTE If it is outside the recommended range, adjust the machine reference value while referring to "n Adjusting the X-axis Bolt Tightening torque (kgfcm) Tightening torque (Nm) machine reference value" described previously. M3×30 Use only omRon genuine bolts or JIS b 1176 hex socket head bolts (strength class: JIS b 1051 12.9). 3-14...
Page 191 Tighten the hex nut of the X-axis origin sensor. Tightening torque 5nm (50kgfcm) Tool KAnon (nakamura mfg. Co., Ltd.) Torque wrench n190SpK 13 Turn off the controller. Enter the safety enclosure. Reattach the cover. 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.
Page 192 Loosen the hex nut. Step 9-11 Moving the Y-axis origin sensor Using the wrench, loosen the hex nut that secures the Y-axis origin sensor. Y-axis origin dog CAUTION It is enough to loosen the nut. Do not remove the nut completely.
Page 193 Adjusting the R-axis machine reference ■ CAUTION As the machine reference value is adjusted, the origin position may change. In this case, it is necessary to set the point data again after the machine reference value has been adjusted. Follow the steps below to adjust the R-axis machine reference value. Prepare a wrench for a width across flat of 13 mm.
Page 194 Move the R-axis origin sensor. Step 10 R-axis origin dog Move the R-axis origin sensor as follows. Determine the distance between the sensor and dog (L) to 0.2 to 0.8 mm. To decrease the R-axis machine reference value, move the sensor away from the dog. To increase the R-axis machine reference value, put the sensor close the dog.
Page 195: Sensor Method (R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000)
2.4.2 Sensor method (R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000) (R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) 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. Follow the steps below to adjust the X-axis machine reference value.
Page 196 Move the X-axis origin sensor stay. Adjusting the X-axis machine reference Step 8-16 (R6YXGS500 to R6YXGS1000) Move the X-axis origin sensor stay as follows. As an approximate guide, a 1mm-movement equals 100%. X-axis machine reference value < 40%: move the X-axis origin sensor stay toward (a) shown in the Fig. X-axis machine reference value > 60%: move the X-axis origin sensor stay toward (b) shown in the X-axis origin dog Fig.
Page 197 Changing the X-axis origin position ■ The X-axis origin position can be changed to any position in the range from the front position of the X-axis arm base to a maximum of 120° clockwise and counterclockwise at 30° intervals, by changing the positions of the dog and the mounting bolt for the X-axis speed reduction unit as shown below.
Page 198 Place a sign indicating that the robot Removing the cover, bolt, is being adjusted. Step 6-9 and X-axis origin sensor stay Place a sign indicating that the robot is being Enlarged hole adjusted, to keep others from operating the controller or operation panel.
Page 199 R6YXG800, R6YXG900, R6YXG1000 M5×40 the machine reference value displayed on the R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 pbEX/pb. Use only omRon genuine bolts or JIS b 1176 hex socket head bolts 2. If the machine reference value is in the range (strength class: JIS b 1051 12.9). between 40 and 60 (recommended range), then the machine reference value has been completely adjusted. NOTE If it is outside the recommended range, adjust the machine reference value while referring to "n...
Page 200 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 X-axis machine reference value. Prepare a hex wrench set. Turn on the controller.
Page 201 Move the Y-axis origin sensor stay. Move the Y-axis origin sensor stay as follows. As an approximate guide, a 0.8mm-movement equals 100%. Y-axis machine reference value < 40%: move the Y-axis origin sensor stay toward (a) shown in the Fig. Y-axis machine reference value > 60%: move the Y-axis origin sensor stay toward (b) shown in the Fig. Secure the stay with the bolts. Secure the X-axis origin sensor stay with the bolts. Turn on the controller.
Page 202 Y-axis origin position changeable position Y-axis origin position changeable position Y-axis origin position at shipment The following describes how to change the Y-axis origin position, for example, to a position 90° counterclockwise. Prepare the tools listed below. • Hex wrench set • Torque wrench • phillips screwdriver • Hex bit • phillips screwdriver bit Turn on the controller. Check that no one is inside the safety enclosure, and Removing the cover, bolt, then turn on the controller.
Page 203 Turn off the controller. Enter the safety enclosure. Reattach the cover. Tightening Tightening Robot model Bolt torque (kgfcm) torque (Nm) R6YXG500, R6YXG600 M3×30 R6YXGS500, R6YXGS600 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 M4×40 R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Use only omRon genuine bolts or JIS b 1176 hex socket head bolts (strength class: JIS b 1051 12.9). 3-27...
Page 204 Adjusting the R-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 R-axis machine reference value. Prepare a hex wrench set. Turn on the controller.
Page 205 Move the R-axis origin sensor stay. Move the R-axis origin sensor stay as follows. As an approximate guide, a 1.9mm-movement equals 100%. R-axis machine reference value < 40%: move the R-axis origin sensor stay toward (a) shown in the Fig. R-axis machine reference value > 60%: move the R-axis origin sensor stay toward (b) shown in the Fig. Secure the stay with the bolts. Secure the X-axis origin sensor stay with the bolts. Turn on the controller.
Page 206: Adjusting The Machine Reference Value Of The Stroke End Method (Z-Axis)
The origin position may change due to machine reference adjustment. If it occurs, you must set point data again. 2.5.1 Stroke end method (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 207 After checking that appropriate measures are taken to prevent the Z-axis from dropping, release the Z-axis brake. NOTE For details about how to release the Z-axis brake, see the "omRon Robot Controller User's manual". Put on the brake. Move the Z-axis up or down so that the bolt is located at the center of the hole, and then put on the brake.
Page 208: Stroke End Method (R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000)
Tighten the bolt. • Tightening torque: 1.1 nm (11 kgfcm) Carefully tighten the bolt since the hex socket cap of the bolt is crushed easily. Go out of the safety enclosure. Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. Perform the absolute reset of the Z-axis.
Page 209 Flange Mark *Use only OMRON genuine bolts or JIS B 1176 hex socket head bolts (strength class: JIS B 1051 12.9). Put a mark. Put a mark so that the current flange position corresponding to the Z-axis motor shaft can be understood.
Page 210 Turn the flange with respect to the motor shaft. As the flange is turned 30°, the reference value changes 33%. Turning the flange clockwise as viewed from the top will decrease the reference value while turning it counterclockwise will increase the reference value. Determine the flange position based on the Z-axis machine reference value you have made a note of in step 4, so that the machine reference value is in the range between 25 and 75.
Page 211: Setting The Soft Limits
CAUTION When performing actual checks of the soft limit settings, operate the robot manually from outside the safety enclosure. NOTE Refer to the "omRon Robot Controller User's manual" for further details. Also refer to "1.2 External view and dimensions" in Chapter 8 for the working envelope area. Setting the X-axis and Y-axis soft limits The soft limits must be set within the movement range limited by the mechanical stoppers as explained in "7. Limiting the movement range with X-axis and Y-axis mechanical stoppers"...
Page 212: Setting The Z-Axis Soft Limits
Z-axis movement distance for each robot. Use these figures as a guide to set the soft limits. X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot Robot Model X-axis Y-axis Z-axis R-axis R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 12mm R6YXGS300, R6YXGS400 R6YXG500, R6YXG600 20mm R6YXGS500, R6YXGS600 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000...
Page 213: Setting The Standard Coordinates
Enter the safety enclosure while holding the PBEX/PB. At this time, stay outside the robot movement range. CAUTION Never enter the robot movement range. 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. Check that the standard coordinates are set correctly.
Page 214: Standard Coordinate Setting Using A Standard Coordinate Setup Jig
Standard coordinate setting using a standard coordinate setup jig Use a standard coordinate setup jig (option) to set the standard coordinates more accurately. The following describes how to set the standard coordinates using the standard coordinate setup jig. 4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 Standard coordinate setup jig (option) Part No. Name...
Page 215: R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000 R6Yxgs500, R6Yxgs600, R6Yxgs700, R6Yxgs800, R6Yxgs900, R6Yxgs1000
X-axis position pulse value displayed on [POS]. +X direction Enter the "11. Arm length [mm]" values. Enter the following values in m1 and m2 for "11. Arm length [mm]" of axis parameters. M1 (X-axis arm length) M2 (Y-axis arm length) R6YXGL250 100.00 150.00 R6YXGS300 150.00 150.00 R6YXGL350 200.00 150.00 R6YXGL400, 250.00...
Page 216 NOTE For details about emergency stop and how to cancel the emergency stop, see the "omRon Robot Controller User's Manual". Step 5 Removing the bolt Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to Bolt keep others from operating the controller or operation panel.
Page 217 Secure the pin (2) with the bolt (4). Step 8-9 Y-axis position pulse value 1. Adjust the arm positions so that the pin can be inserted into the enlarged hole in the Y-axis arm Clockwise and the sleeve without jamming, and then insert Y-axis arm the pin.
Page 218: Affixing The Stickers For Origin Positions, Movement Directions, And Axis Names
Check that no one is inside the safety enclosure, and then turn on the controller. Move the robot to the 0 pulse position. NOTE For details about how to move the axes to their "0" pulse positions, see "Chapter 4 Point trace function" in the "OMRON Robot Controller User's manual". Turn off the controller.
Page 219 Sticker affixing positions End effector End effector Sticker affixing positions (Wall-mount model / Wall-mount inverse model) (Only the affixing positions different from the standard model are shown.) Change the sticker affixing position of only the X-axis. 3-43...
Page 221 Chapter 4 Periodic inspection Contents Overview List of inspection items...
Page 223: Overview
Overview Daily and periodic inspection of the OMRON robot is essential in order to ensure safe and efficient operation. The periodic inspection for XG series consists of daily inspection and 6-month inspection. Be sure to perform the daily inspection before starting the robot and after completion of the day’s work.
Page 224 List of inspection items WARNING onLY qUALIFIEd EnGInEERS WHo HAvE RECEIvEd THE RoboT TRAInInG CoURSE CondUCTEd bY YoUR dISTRIbUToR ARE ALLoWEd To InSpECT THE ITEmS nEEdInG THE CovER REmovAL WoRK WHILE REFERRInG To THE SEpARATE mAInTEnAnCE mAnUAL FoR XG SERIES. : Conduct. : Conduct if trouble is found as a result of inspection. : Contact your distributor. Location Contents Daily 6-month Cleaning Adjustment Replacement ■ Inspection with the controller turned off • Check for scratch, dent, or excessive bend. Machine harness Robot cable • Check for damage.
Page 225 Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt M4 set screw 15.3 45.0 1310 2090...
Page 227 Chapter 5 Harmonic drive replacement period Contents Overview Replacement period...
Page 229 Since the XG series robots listed below use long- life harmonic grease, it is not necessary to replace the harmonic grease. WARNING onLY AUTHoRIZEd EnGInEERS WHo RECEIvEd THE RoboT TRAInInG CoURSE CondUCEd bY YoUR dISTRIbUToR mUST REpLACE THE HARmonIC dRIvE WHILE REFERRInG To THE SEpARATE XG SERIES mAInTEnAnCE mAnUAL. Applicable models: R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS300, R6YXGS400, R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000...
Page 230: Replacement Period
Replacement period = 8.4×10 /(n×60×h×d×n×θ) = 8.4×10 /(10×60×24×240×80×0.25) = 12.2 years Harmonic drive speed reduction ratio Robot model X-axis Y-axis R-axis R6YXG500, R6YXG600 R6YXGS500, R6YXGS600 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 R6YXGS300, R6YXGS400, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000...
Page 231 Chapter 6 Increasing the robot operating speed Contents 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 233: 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 ( "Controller system settings" in Chapter 7) (2.4 Axis parameters) (7. Arch position) Programming manual ( "Robot Language Lists" in Chapter 8) (6 ARCH) Gate motion From point P1 to P4 via P2 and P3: movE p, p2...
Page 234 Arch motion: Making the arch position value larger In "2. Arch motion", making the arch position value larger can further shorten the cycle time. Since the robot arm moves along a larger arc, use caution to avoid obstacles if they are located near the arm movement path. The arch position parameter can be set for each axis.
Page 235: Increasing The Speed With The Weight Statement
Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller user’s manual ("Controller system settings" in Chapter 7) (2.3 Robot parameters) (1. Tip weight) Programming manual ("Robot Language Lists" in Chapter 8) (116 WEIGHT) [Example] From P1 when chuck is open: WEIGHT 5 ....Changes the axis tip weight parameter to 5kg (no workpiece). movE p, p2, Z=0 do3 (0) = 1 ....Chuck closes. WEIGHT 10 ....Changes the axis tip weight parameter to 10kg (with workpiece). movE p, p3, Z=0 In the above program, the acceleration can be set to a higher level by reducing the axis tip weight parameter to 5kg while the chuck does not grip any workpiece, and then set to a lower level by changing the axis tip weight parameter to 10kg.
Page 236: Increasing The Speed By The Tolerance Parameter
Increasing the speed by the tolerance parameter [Also refer to:] Robot controller user’s manual ("Controller system settings" in Chapter 7) (2.4 Axis parameters) (5. Tolerance) Programming manual ("Robot Language Lists" in Chapter 8) (109 ToLE) Increasing the speed by the tolerance parameter [Example] From P1 to P3 via P2 ToLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance. ToLE (2) = 2048 ... Y-axis tolerance (pulses) Tolerance can be set for each axis. If the same tolerance is used for all axes, you ToLE (3) = 2048 ... Z-axis tolerance (pulses) can write as "ToLE 2048".
Page 237: 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 ("Controller system settings" in Chapter 7) (2.4 Axis parameters) (6. out position) Programming manual ("Robot Language Lists" in Chapter 8) (69 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... Y-axis oUT effective position (pulses) The OUT effective position can be set for each axis. oUTpoS (3) = 10000... Z-axis oUT effective position (pulses) If the same OUT effective position oUTpoS (4) = 10000... R-axis oUT effective position (pulses) is used for all axes, you can write...
Page 239: Torque Limit Designated Z-Axis Pushing Action
Chapter 7 Torque limit designated Z-axis pushing action Contents Torque limit designated Z-axis pushing action...
Page 241 For example, if the load is 5kg, the added value would be 5 × 9.8 = 49N. For programming specifics, refer to the separate "YRCX series programming manual" or "YRC series programming manual". R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 Speed Limit Value (%) Tip Load Weight...
Page 242 R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 Z300mm stroke specifications Tip Load Weight Torque Limit Pushing Force Speed Limit Torque Offset (kg) Value (%) Value (%) 10kg 60% to 100% 120 to 200 50% to 100% 100 to 200 50% to 100% 100 to 200 40% to 100% 80 to 200 40% to 100% 80 to 200 30% to 100%...
Page 243 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 Z400mm stroke specifications R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Z400mm stroke specifications Speed Limit Value (%) Tip Load Torque Limit Pushing Force Torque Offset R6YXGH600 Weight (kg) Value (%) R6YXG800 R6YXG900 R6YXG1000 R6YXG700 20kg 60 to 100% 240 to 400 19kg 50 to 100% 200 to 400...
Page 245 Chapter 8 Specifications Contents Manipulator Basic specification 1.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 1.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 1.1.3 R6YXGS300, R6YXGS400, R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 External view and dimensions 1.2.1 R6YXGL250 1.2.2 R6YXGL350 8-11 1.2.3...
Page 247: Manipulator
Manipulator Basic specification 1.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 Robot model R6YXGL250 R6YXGL350 R6YXGL400 Arm length 100mm 200mm 250mm X-axis Rotation angle ±140° Arm length 150mm Axis Y-axis specifications Rotation angle ±144° Z-axis Stroke 150mm R-axis Rotation angle ±360° X-axis...
Page 248 Robot model R6YXGL500 R6YXGL600 Arm length 250mm 350mm X-axis Rotation angle ±140° Arm length 250mm Axis Y-axis specifications Rotation angle ±144° Z-axis Stroke 150mm R-axis Rotation angle ±360° X-axis 200W Y-axis 150W Motor Z-axis R-axis 100W XY resultant 5.1m/s 4.9m/s Maximum speed Z-axis 1.1m/s...
Page 249: R6Yxg500, R6Yxg600, R6Yxgh600, R6Yxg700, R6Yxg800, R6Yxg900, R6Yxg1000
1.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 Robot model R6YXG500 R6YXG600 Arm length 200mm 300mm X-axis Rotation angle ±130° Arm length 300mm Axis Y-axis specifications Rotation angle ±145° Z-axis Stroke 200, 300mm R-axis Rotation angle ±360° X-axis 400W Y-axis 200W Motor Z-axis...
Page 250 Robot model R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 Arm length 200mm 300mm 400mm 500mm 600mm X-axis Rotation angle ±130° Arm length 400mm Axis Y-axis specifications Rotation angle ±150° Z-axis Stroke 200, 400mm R-axis Rotation angle ±360° X-axis 750W Y-axis 400W Motor Z-axis 400W R-axis...
Page 251: R6Yxgs300, R6Yxgs400, R6Yxgs500, R6Yxgs600, R6Yxgs700, R6Yxgs800, R6Yxgs900, R6Yxgs1000
1.1.3 R6YXGS300, R6YXGS400, R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Robot model R6YXGS300 R6YXGS400 R6YXGS500 R6YXGS600 Arm length 150mm 250mm 200mm 300mm X-axis Rotation angle ±120° ±125° ±105° ±130° Arm length 150mm 300mm Axis Y-axis specifications Rotation angle ±130° ±144° ±125° ±145°...
Page 252 Robot model R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 Arm length 300mm 400mm 500mm 600mm X-axis Rotation angle ±130° Arm length 400mm Axis Y-axis specifications Rotation angle ±130° ±145° ±150° Z-axis Stroke 200, 400mm R-axis Rotation angle ±360° X-axis 750W Y-axis 400W Motor Z-axis 400W R-axis...
Page 253: External View And Dimensions
External view and dimensions 1.2.1 R6YXGL250 User tubing 1 ( 4 black) 4- 9 User tubing 2 ( 4 red) M8 bolt for installation, 4 bolts used User tubing 3 ( 4 blue) 138 (Base size) D-sub connector for user wiring (No. 1 to 10 usable)
Page 254 R6YXGL250 Tool flange mount type 134.5 ±2 Tool flange mount type 4- 4.5 through-hole ↑E 30 h7 + 0.012 - 0.021 4 H7 through-hole Detailed drawing D View of E Scale 2:3 ↓F 780.5 134.5 ±2 Option: User wiring/tubing through spline type...
Page 255 R6YXGL250 Working envelope • Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above. • X-axis mechanical stopper position : 142°...
Page 256 R6YXGL250 Projection of the machine harness toward the base rear side Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions θx and θy • The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient space.
Page 257: R6Yxgl350
1.2.2 R6YXGL350 User tubing 1 ( 4 black) 4- 9 M8 bolt for installation, 4 bolts used User tubing 2 ( 4 red) User tubing 3 ( 4 blue) 138 (Base size) Cross section B-B D-sub connector for user wiring (No. 1 to 10 usable) Maximum 330 during arm rotation Maximum 660 during arm rotation...
Page 258 R6YXGL350 Tool flange mount type 134.5 ±2 Tool flange mount type 4- 4.5 through-hole ↑E 30 h7 - 0.021 + 0.012 4 H7 through-hole Detailed drawing D View of E Scale 2 : 3 ↓F 780.5 134.5 ±2 Option: User wiring/tubing through spline type 8-12...
Page 259 R6YXGL350 Working envelope • Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above. • X-axis mechanical stopper position : 142° •...
Page 260 R6YXGL350 Projection of the machine harness toward the base rear side Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions θx and θy • The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient space.
Page 261: R6Yxgl400
1.2.3 R6YXGL400 User tubing 1 ( 4 black) 4- 9 M8 bolt for installation, 4 bolts used User tubing 2 ( 4 red) User tubing 3 ( 4 blue) 138 (Base size) D-sub connector for user wiring (No. 1 to 10 usable) Cross section B-B Maximum 380 during arm rotation Maximum 660...
Page 262 R6YXGL400 Tool flange mount type 134.5 ±2 Tool flange mount type 4- 4.5 through-hole ↑E 30 h7 - 0.021 + 0.012 4 H7 through-hole Detailed drawing D View of E Scale 2 : 3 ↓F 780.5 134.5 ±2 Option: User wiring/tubing through spline type 8-16...
Page 263 R6YXGL400 Working envelope Standard/Tool flange mount type • Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above. • X-axis mechanical stopper position : 142°...
Page 264 R6YXGL400 Projection of the machine harness toward the base rear side Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions θx and θy • The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient space.
Page 265: R6Yxgl500
1.2.4 R6YXGL500 User tubing 3 ( 4 blue) User tubing 2 ( 4 red) User tubing 1 ( 4 black) D-sub connector for user wiring 4- 9 (No. 1 to 10 usable) M8 bolt for installation, 4 bolts used 138 (Base size) Maximum 315 during arm rotation Maximum 673 during arm rotation...
Page 266 R6YXGL500 Tool flange mount type 147.5 ±2 Tool flange mount type 4- 4.5 through-hole ↑E 30 h7 -0.021 +0.012 4 H7 0 through-hole Detailed drawing D View of E Scale 2 : 3 ↓F 793.5 147.5 ±2 Option: User wiring/tubing through spline type 8-20...
Page 267 R6YXGL500 Working envelope Standard/Tool flange mount type • Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above. • X-axis mechanical stopper position : 142°...
Page 268 R6YXGL500 Projection of the machine harness toward the base rear side Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions θx and θy • The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient space.
Page 269: R6Yxgl600
1.2.5 R6YXGL600 User tubing 3 ( 4 blue) User tubing 2 ( 4 red) User tubing 1 ( 4 black) D-sub connector for user wiring (No. 1 to 10 usable) 4- 9 138 (Base size) M8 bolt for installation, 4 bolts used Maximum 355 during arm rotation Maximum 673 during arm rotation...
Page 270 R6YXGL600 Tool flange mount type 147.5 ±2 Tool flange mount type 4- 4.5 through-hole ↑E 30 h7-0.021 +0.012 4 H7 0 through-hole Detailed drawing D View of E Scale 2 : 3 ↓F 793.5 147.5 ±2 Option: User wiring/tubing through spline type 8-24...
Page 271 R6YXGL600 Working envelope Standard/Tool flange mount type • Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above. • X-axis mechanical stopper position : 142°...
Page 272 R6YXGL600 Projection of the machine harness toward the base rear side Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions θx and θy • The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient space.
Page 273: R6Yxg500
1.2.6 R6YXG500 4- 11 M10 bolt for installation, 4 bolt used User tubing 1 ( 6 black) D-sub connector for user wiring User tubing 2 ( 6 red) (No.1 to 20 usable) User tubing 3 ( 6 blue) 200 (Base size) Z400mm stroke Z200mm stroke (Maximum 660...
Page 274 R6YXG500 Working envelope of left-handed system User tubing 1 ( 6 black) User tubing 2 ( 6 red) D-sub connector for user wiring User tubing 3 ( 6 blue) (No. 1 to 20 usable) Working envelope of right-handed system X-axis mechanical stopper position: 132º Y-axis mechanical stopper position: 147º...
Page 275: R6Yxg600
1.2.7 R6YXG600 4- 11 M10 bolt for installation, 4 bolt used D-sub connector for user wiring User tubing 1 ( 6 black) (No.1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) 200 (Base size) Z400mm stroke Z200mm stroke (Maximum 660...
Page 276 R6YXG600 Working envelope of left-handed system User tubing 1 ( 6 black) D-sub connector User tubing 2 ( 6 red) for user wiring User tubing 3 ( 6 blue) (No. 1 to 20 usable) M4 ground terminal Working envelope of right-handed system X-axis mechanical stopper position: 132º...
Page 277: R6Yxgh600
1.2.8 R6YXGH600 4- 14 M12 bolt for installation, 4 bolt used User tubing 1 ( 6 black) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) 245 (Base size) D-sub connector for user wiring (No.1 to 20 usable) Z400mm stroke Z200mm stroke (Maximum 770...
Page 278 R6YXGH600 Working envelope of left-handed system D-sub connector for user wiring User tubing 1 ( 6 black) (No. 1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) M4 ground terminal 8-32...
Page 279: R6Yxg700
1.2.9 R6YXG700 4- 14 M12 bolt for installation, 4 bolt used User tubing 1 ( 6 black) D-sub connector for user wiring User tubing 2 ( 6 red) (No.1 to 20 usable) User tubing 3 ( 6 blue) 245 (Base size) Z400mm stroke Z200mm stroke (Maximum 770...
Page 280 R6YXG700 Working envelope of left-handed system D-sub connector for user wiring User tubing 1 ( 6 black) (No. 1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) Working envelope of right-handed system X-axis mechanical stopper position: 132º Y-axis mechanical stopper position: 152º...
Page 281: 1.2.10 R6Yxg800
1.2.10 R6YXG800 4- 14 M12 bolt for installation, 4 bolt used User tubing 1 ( 6 black) User tubing 2 ( 6 red) D-sub connector for user wiring User tubing 3 ( 6 blue) (No.1 to 20 usable) 245 (Base size) Z400mm stroke Z200mm stroke (Maximum 770...
Page 282 R6YXG800 Working envelope of left-handed system D-sub connector for user wiring User tubing 1 ( 6 black) (No. 1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) M4 ground terminal Working envelope of right-handed system X-axis mechanical stopper position: 132º...
Page 283: 1.2.11 R6Yxg900
1.2.11 R6YXG900 4- 14 M12 bolt for installation, 4 bolt used User tubing 1 ( 6 black) User tubing 2 ( 6 red) D-sub connector for user wiring (No.1 to 20 usable) User tubing 3 ( 6 blue) 245 (Base size) Z400mm stroke Z200mm stroke (Maximum 770...
Page 284 R6YXG900 Working envelope of left-handed system D-sub connector for user wiring User tubing 1 ( 6 black) (No. 1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) Working envelope of right-handed system M4 ground terminal X-axis mechanical stopper position: 132º...
Page 285: 1.2.12 R6Yxg1000
1.2.12 R6YXG1000 4- 14 M12 bolt for installation, 4 bolt used User tubing 1 ( 6 black) User tubing 2 ( 6 red) D-sub connector for user wiring User tubing 3 ( 6 blue) (No.1 to 20 usable) 245 (Base size) Z400mm stroke Z200mm stroke (Maximum 770...
Page 286 R6YXG1000 Working envelope of left-handed system D-sub connector for user wiring User tubing 1 ( 6 black) (No. 1 to 20 usable) User tubing 2 ( 6 red) User tubing 3 ( 6 blue) Working envelope of right-handed system X-axis mechanical stopper position: 132º Y-axis mechanical stopper position: 152º...
Page 287: R6Yxgsw300 (Wall-Mount Model)
1.2.13 R6YXGSW300 (Wall-mount model) D-sub connector for user wiring D-sub connector for user wiring (No. 1 to 10 usable) (No. 1 to 10 usable) User tubing 2 ( 4 red) User tubing 1 ( 4 black) User tubing 3 ( 4 blue) User tubing 2 ( 4 red) Cross section B-B M4 ground terminal...
Page 288 R6YXGSW300 Tool flange mount type (Maximum 410 during arm rotation) 4- 9 M8 bolt for installation, 4 bolts used 187.5 6H7 through-hole 14.5 16.5 Tool flange mount type 146±2 Z-axis upper end 30h7 Hollow diameter 11 -0.021 mechanical stopper 4- 4.5 through-hole position Z-axis rises 4mm during return-to-origin.
Page 289 R6YXGSW300 Working envelope Standard/Tool flange mount type X-axis mechanical stopper position : 122° Y-axis mechanical stopper position : 132° Option The Z-axis origin position can be lowered 12mm, 15mm, 18mm, etc. Z-axis upper end additional stopper (at intervals of 3mm). The lower end stopper position can be raised 17mm or more Z-axis lower end additional stopper (within 4mm of the working envelope from the additional stopper).
Page 290: R6Yxgsu300 (Wall-Mount Inverse Model)
1.2.14 R6YXGSU300 (Wall-mount inverse model) 6-Ｍ3×0.5 Depth 6 Z-axis upper end mechanical The weight of the tool attached here stopper position should be added to the tip mass. Z-axis lower end mechanical Hollow diameter 11 stopper position Z-axis lowers 4mm during 0 16h7 User tool installation range...
Page 291 R6YXGSU300 R127 Working envelope X-axis mechanical stopper position : 122° Y-axis mechanical stopper position : 132° 8-45...
Page 292 R6YXGSU300 Tool flange mount type 6-M3×0.5 Depth 6 The weight of the tool attached here should be added to the tip mass. Z-axis upper end mechanical stopper position +0.012 through-hole Z-axis lower end mechanical stopper position Z-axis lowers 4mm during return-to-origin. 146±2 41.5 46.5...
Page 293: R6Yxgsw400 (Wall-Mount Model)
1.2.15 R6YXGSW400 (Wall-mount model) D-sub connector for user wiring (No. 1 to 10 usable) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 2 ( 4 red) User tubing 1 ( 4 black) User tubing 3 ( 4 blue) User tubing 2 ( 4 red) M4 ground terminal User tubing 1 ( 4 black)
Page 294 R6YXGSW400 Tool flange mount type (Maximum 410 during arm rotation) 4- 9 M8 bolt for installation, 4 bolts used 187.5 through-hole 14.5 16.5 Tool flange mount type 146±2 Z-axis upper end 30h7 mechanical stopper Hollow diameter 11 -0.021 position 4- 4.5 through-hole Z-axis rises 4mm during return-to-origin.
Page 295 R6YXGSW400 Working envelope Standard/Tool flange mount type X-axis mechanical stopper position : 127° Y-axis mechanical stopper position : 146° Option The Z-axis origin position can be lowered 12mm, 15mm, 18mm, etc. Z-axis upper end additional stopper (at intervals of 3mm). The lower end stopper position can be raised 17mm or more Z-axis lower end additional stopper (within 4mm of the working envelope from the additional stopper).
Page 296: R6Yxgsu400 (Wall-Mount Inverse Model)
1.2.16 R6YXGSU400 (Wall-mount inverse model) 6-M3×0.5 Depth 6 Z-axis upper end mechanical The weight of the tool attached here stopper position should be added to the tip mass. Z-axis lower end mechanical Hollow diameter 11 stopper position User tool Z-axis lowers 4mm during 16h7 installation range -0.018...
Page 297 R6YXGSU400 Working envelope X-axis mechanical stopper position : 127° Y-axis mechanical stopper position : 146° 8-51...
Page 298 R6YXGSU400 Tool flange mount type 6-M3×0.5 Depth 6 The weight of the tool attached here Z-axis upper end mechanical should be added to the tip mass. stopper position +0.012 through-hole Z-axis lower end mechanical stopper position Z-axis lowers 4mm during return-to-origin. 146±2 4- 4.5 through-hole 41.5...
Page 299: R6Yxgsw500 (Wall-Mount Model)
1.2.17 R6YXGSW500 (Wall-mount model) 89.5 D-sub connector for user wiring (No.1 to 20 usable) D-sub connector for user wiring User tubing 1 ( 6 Black) (No.1 to 20 usable) User tubing 2 ( 6 Red) User tubing 3 ( 6 Blue) User tubing 1 ( 6 Black) M4 ground terminal User tubing 2 ( 6 Red)
Page 300 R6YXGSW500 R248 Working envelope of left-handed system 6- 11 M10 bolt for installation, 6 bolts used R248 8H7 through-hole Working envelope of right-handed system X-axis mechanical stopper position: 107° Y-axis mechanical stopper position: 127° 8-54...
Page 301: R6Yxgsu500 (Wall-Mount Inverse Model)
1.2.18 R6YXGSU500 (Wall-mount inverse model) M16 × 2 Depth20 (Bottom of spline) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 302 R6YXGSU500 R248 Working envelope of left-handed system R248 8H7 through-hole 6- 11 Working envelope of right-handed system M10 bolt for installation, 6 bolts used X-axis mechanical stopper position: 107° Y-axis mechanical stopper position: 127° 8-56...
Page 303: R6Yxgsw600 (Wall-Mount Model)
1.2.19 R6YXGSW600 (Wall-mount model) 89.5 D-sub connector for user wiring (No.1 to 20 usable) User tubing 1 ( 6 Black) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) User tubing 3 ( 6 Blue) User tubing 1 ( 6 Black) M4 ground terminal User tubing 2 ( 6 Red)
Page 304 R6YXGSW600 R180 Working envelope of left-handed system 6- 11 M10 bolt for installation, 6 bolts used 8H7 through-hole Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 147° 8-58...
Page 305: R6Yxgsu600 (Wall-Mount Inverse Model)
1.2.20 R6YXGSU600 (Wall-mount inverse model) M16 × 2 Depth20 (Bottom of spline) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 306 R6YXGSU600 R180 Working envelope of left-handed system through-hole 6- 11 M10 bolt for installation, 6 bolts used Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 147° 8-60...
Page 307: R6Yxgsw700 (Wall-Mount Model)
1.2.21 R6YXGSW700 (Wall-mount model) User tubing 3 ( 6 Blue) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) User tubing 1 ( 6 Black) User tubing 1 ( 6 Black) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) M4 ground terminal...
Page 308 R6YXGSW700 R310 Working envelope of left-handed system 6- 14 M12 bolt for installation, 6 bolts used 8H7 through-hole R310 Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 132° 8-62...
Page 309: R6Yxgsu700 (Wall-Mount Inverse Model)
1.2.22 R6YXGSU700 (Wall-mount inverse model) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 310 R6YXGSU700 R310 Working envelope of left-handed system through-hole R310 6- 14 M12 bolt for installation, 6 bolts used Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 132° 8-64...
Page 311: R6Yxgsw800 (Wall-Mount Model)
1.2.23 R6YXGSW800 (Wall-mount model) User tubing 3 ( 6 Blue) User tubing 2 ( 6 Red) D-sub connector for user wiring User tubing 1 ( 6 Black) (No.1 to 20 usable) User tubing 1 ( 6 Black) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) User tubing 3 ( 6 Blue)
Page 312 R6YXGSW800 R241 6- 14 M12 bolt for installation, Working envelope of left-handed system 6 bolts used 8H7 through-hole R241 Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 147° 8-66...
Page 313: R6Yxgsu800 (Wall-Mount Inverse Model)
1.2.24 R6YXGSU800 (Wall-mount inverse model) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 314 R6YXGSU800 R241 Working envelope of left-handed system through-hole R241 6- 14 M12 bolt for installation, 6 bolts used Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 147° 8-68...
Page 315: R6Yxgsw900 (Wall-Mount Model)
1.2.25 R6YXGSW900 (Wall-mount model) User tubing 3 ( 6 Blue) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) User tubing 1 ( 6 Black) User tubing 1 ( 6 Black) User tubing 2 ( 6 Red) D-sub connector for user wiring User tubing 3 ( 6 Blue) M4 ground terminal...
Page 316 R6YXGSW900 R253 6- 14 Working envelope of left-handed system M12 bolt for installation, 6 bolts used 8H7 through-hole R253 Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152° 8-70...
Page 317: R6Yxgsu900 (Wall-Mount Inverse Model)
1.2.26 R6YXGSU900 (Wall-mount inverse model) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 318 R6YXGSU900 R253 Working envelope of left-handed system through-hole R253 6- 14 M12 bolt for installation, 6 bolts used Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152° 8-72...
Page 319: R6Yxgsw1000 (Wall-Mount Model)
1.2.27 R6YXGSW1000 (Wall-mount model) User tubing 3 ( 6 Blue) D-sub connector for user wiring User tubing 2 ( 6 Red) (No.1 to 20 usable) User tubing 1 ( 6 Black) User tubing 1 ( 6 Black) User tubing 2 ( 6 Red) D-sub connector for user wiring M4 ground terminal User tubing 3 ( 6 Blue)
Page 320 R6YXGSW1000 R324 6- 14 M12 bolt for installation, 6 bolts used Working envelope of left-handed system 8H7 through-hole R324 Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152° 8-74...
Page 321: R6Yxgsu1000 (Wall-Mount Inverse Model)
1.2.28 R6YXGSU1000 (Wall-mount inverse model) 4-M4 × 0.7 through-hole for tool attachment Four M4 × 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass.
Page 322 R6YXGSU1000 R324 Working envelope of left-handed system through-hole R324 6- 14 M12 bolt for installation, 6 bolts used Working envelope of right-handed system X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152° 8-76...
Page 323: Robot Inner Wiring Diagram
Robot inner wiring diagram Robot inner wiring diagram (R6YXG500) 8-77...
Page 324: 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 325 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 326 Machine harness wiring table (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600) Y-axis arm side Base side Signal Connector Connection Connector Color Wire Y-axis Resolver Brown 0.2mm White Twisted pair 0.2mm White Twisted pair Orange 0.2mm White Twisted pair Gray Shield Z-axis Resolver Brown 0.2mm...
Page 327 Machine harness wiring table (R6YXG500, R6YXG600, R6YXGH600, R6YXG700,R6YXG800, R6YXG900, R6YXG1000) (R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) Y-axis arm side Base side Signal Connector Connection Connector Color Wire Y-axis Resolver Brown 0.2mm White Twisted pair 0.2mm White Twisted pair Orange 0.2mm White Twisted pair Green...
Page 328 Motor wiring table Signal Color Connection Connector Resolver Blue Blue/Black Brown Brown/Black XP, YP, ZP, RP Black SHIELd Black Motor White XM, YM, ZM, RM Black Yellow/Green Round terminal Brake Yellow ZbK (Z-axis motor only) Blue Origin sensor wiring table Signal Color Connection Connector +24v...
Page 329 Revision history A manual revision code appears as a suffix to the catalog number on the front cover manual. The following table outlines the changes made to the manual during each revision. Revision code Date Description December 2012 Original production November 2013 Information regarding new models (R6YXGS300 and R6YXGS400) was added...
Page 330 Authorized Distributor: Cat. No. I155E-EN-03A Note: Specifications subject to change without notice. Printed in Europe...

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Omron R6YXGL250 Installation Manual

General

Chapter 1 Functions

Chapter 2 Installation

Chapter 3 Robot Settings

Chapter 4 Periodic Inspection

Chapter 5 Harmonic Drive Replacement Period

Chapter 6 Increasing the Robot Operating Speed

Chapter 7 Torque Limit Designated Z-Axis Pushing Action

Chapter 8 Specifications

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Summary of Contents for Omron R6YXGL250

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