Omron R6Y Series User Manual
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Omron R6Y Series User Manual

Omron R6Y Series User Manual

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Cat. No. I145E-EN-01
SCARA Robots
ZX-T Series
X Series
R6Y - X series
USER´S MANUAL

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Summary of Contents for Omron R6Y Series

  • Page 1 Cat. No. I145E-EN-01 SCARA Robots ZX-T Series X Series R6Y - X series USER´S MANUAL...
  • Page 3 Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this OMRON X series SCARA robot. 1. Please be sure to perform the following tasks before using the robot. Failing to perform the tasks below will require re-teaching of the robot since the origin position cannot be set to the same previous position.
  • Page 4 Set the reference coordinates while referring to instructions in "5. Setting the Reference Coordinates" in Chapter 4 of this manual and also to "Setting the Reference Coordinates" in the "OMRON Robot Controller User's Manual". Robot malfunctions (vibration, noise) may occur if the reference coordinates are not set correctly.
  • Page 5 Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
  • Page 6 When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

  • Page 7: Table Of Contents

    CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information ..............1-1 2 Essential Caution Items ............1-2 3 Industrial Robot Operating and Maintenance Personnel....1-10 4 Robot Safety Functions ............1-11 5 Safety Measures for the System ..........1-12 6 Trial Operation ............... 1-13 7 Work Within the Safeguard Enclosure ........
  • Page 8 6-2 Equation for moment of inertia calculation ........3-28 6-3 Example of moment of inertia calculation .........3-31 6-4 Attaching the end effector ..............3-33 6-5 Gripping force of end effector ............3-37 7 Limiting the Movement Range with X-Axis Mechanical Stoppers (R6YXX1200) ........3-38 7-1 R6YXX1200 ..................3-39 8 Limiting the Movement Range with X-, Y- and Z-Axis Mechanical Stoppers (R6YXH250, R6YXH350, R6YXH400) ..
  • Page 9 3-4-3 Stroke end method ................4-33 3-4-3-1 R6YXX1200 ..................4-33 4 Setting the Soft Limits ............4-37 5 Setting the Standard Coordinates ........... 4-40 6 Affixing Stickers for Origin Positions, Movement Directions and Axis Names ............ 4-41 7 Removing the Robot Covers ..........4-43 8 Adjusting the Timing Belt Tension ........
  • Page 10 CHAPTER 7 Specifications 1 Manipulator ................7-1 1-1 Basic specification ................7-1 1-2 External view and dimensions .............7-3 1-3 Robot inner wiring diagram ...............7-11 1-4 Wiring table ..................7-13...
  • Page 11 CHAPTER Using the Robot Safely 1 Safety Information ................1-1 2 Essential Caution Items ..............1-2 3 Industrial Robot Operating and Maintenance Personnel ....1-10 4 Robot Safety Functions ..............1-11 5 Safety Measures for the System ............1-12 6 Trial Operation .................1-13 7 Work Within the Safeguard Enclosure ..........1-14 8 Automatic Operation ................1-15 9 Warranty ...................1-16...

  • Page 13: Chapter 1 Using The Robot Safely

    Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of OMRON industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.

  • Page 14: Essential Caution Items

    CHAPTER 1 Using the Robot Safely Essential Caution Items Particularly important cautions for handling or operating the robot are de- scribed below. In addition, safety information about installation, operation, in- spection and maintenance is provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot.
  • Page 15 CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (Fig. 1-3) is affixed to the robot. See Fig. 2-2 to Fig. 2-6 for the locations of warning labels. • Be sure to read the warning label and this manual carefully and make you thoroughly understand the contents before attempting installation and operation of the robot.
  • Page 16 CHAPTER 1 Using the Robot Safely (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS RELEASED, CAUSING A HAZARDOUS SITUATION. • PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
  • Page 17 FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK. • NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER. For precautions on handling the controller, refer to the "OMRON Robot Con- troller User's Manual".
  • Page 18 WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS, CONTINUOUS OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT OMRON DEALER FOR CORRECTIVE ACTION. Damage or Trouble Possible Danger Damage to machine harness or robot cable...
  • Page 19 CHAPTER 1 Using the Robot Safely (18) Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK. (19) Do not allow any object to enter the X-axis motor cooling fan. WARNING IF AN OBJECT SUCH AS A SMALL WORKPIECE WHICH THE END EFFECTOR FAILED TO PICK UP, PENETRATES INTO THE COOLING FAN FOR THE X-AXIS MOTOR, IT MAY REBOUND AND FLY AWAY FROM THE FAN, POSSIBLY CAUSING BODILY INJURY OR DAMAGE TO THE...
  • Page 20 CHAPTER 1 Using the Robot Safely (23) Follow the specified procedures when installing, adjusting or inspecting the robot. WARNING ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING, ADJUSTING OR INSPECTING THE ROBOT. NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED IN THIS MANUAL. (24) Do not attempt any repair, parts replacement and modification.
  • Page 21 CHAPTER 1 Using the Robot Safely (1) Robot operating procedures needed for tasks such as startup procedures and handling switches. (2) Robot speeds used during tasks such as teaching. (3) Methods for workers to signal each other when two or more workers perform tasks.

  • Page 22: Industrial Robot Operating And Maintenance Personnel

    CHAPTER 1 Using the Robot Safely Industrial Robot Operating and Maintenance Personnel Operators or persons who handle the robot such as for teaching, programming, movement check, inspection, adjustment, and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must read the user's manual carefully to understand its contents before at- tempting the robot operation.

  • Page 23: Robot Safety Functions

    CHAPTER 1 Using the Robot Safely Robot Safety Functions (1) Overload detection This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures. 1. Insert a timer in the program. 2.

  • Page 24: Safety Measures For The System

    CHAPTER 1 Using the Robot Safely Safety Measures for the System Since the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Accordingly, appropriate safety measures must be taken on the part of the system manufacturer according to the individual system.

  • Page 25: Trial Operation

    CHAPTER 1 Using the Robot Safely Trial Operation After making installations, adjustments, inspections, maintenance or repairs to the robot, make a trial run using the following procedures. (1) If a safeguard enclosure has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipula- tor in place of the safeguard enclosure, and observe the following points.

  • Page 26: Work Within The Safeguard Enclosure

    CHAPTER 1 Using the Robot Safely Work Within the Safeguard Enclosure (1) When work is required inside the safeguard enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel, except for the following cases.

  • Page 27: Automatic Operation

    CHAPTER 1 Using the Robot Safely Automatic Operation Automatic operation described here includes all operations in AUTO mode. (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming box and tools are in their specified locations. 3.

  • Page 28: Warranty

    CHAPTER 1 Using the Robot Safely Warranty The OMRON robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to de- fects in materials or workmanship in the...
  • Page 29 WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

  • Page 31: Chapter 2 Functions

    CHAPTER Functions 1 Robot Manipulator ................2-1 2 Robot Controller .................2-4 3 Robot initialization number list ............2-5...

  • Page 33: Robot Manipulator

    CHAPTER 2 Functions Robot Manipulator The X 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 X series robots can move as shown in Fig. 2-1. By at- taching 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.
  • Page 34 CHAPTER 2 Functions D-sub connector for user wiring (No.1 to 10) User tubing 1 (ø4 black) User tubing 2 (ø4 red) User tubing 3 (ø4 blue) Ball screw Machine harness Warning label 1 Warning label 2 Z-axis motor R-axis motor Z-axis,R-axis pulley, belt Y-axis speed reduction gear...
  • Page 35 CHAPTER 2 Functions X-axis movable mechanical stopper Eyebolt installation position D-sub connector for user wiring (No.1 to 20) User tubing 1 (ø6 black) User tubing 2 (ø6 red) User tubing 3 (ø6 blue) Y-axis mechanical stopper Ball screw Machine harness Warning label 1 (Same on opposite side) Warning label 2 (Same on opposite side)

  • Page 36: Robot Controller

    CHAPTER 2 Functions Robot Controller The X series robot comes supplied with a robot controller YRC. For more details, refer to the separate "OMRON Robot Controller User's Manual". MO TOR OP.1 OP.3 S R V B AT T SE L OP.2...

  • Page 37: Robot Initialization Number List

    CHAPTER 2 Functions Robot initialization number list The X series robots are initialized for optimum setting (default setting) accord- ing to the robot model prior to shipping. The robot controllers do not have to be reinitialized during normal operation. However, if for some reason the control- ler must be reinitialized, proceed while referring to the list below.
  • Page 39 CHAPTER Installation 1 Robot Installation Conditions ............3-1 Installation environments ................3-1 Installation base .................... 3-3 2 Installation ..................3-5 Unpacking ..................... 3-5 Checking the product ..................3-6 Moving the robot................... 3-7 2-3-1 Moving the R6YXH250, R6YXH350, R6YXH400 ........3-7 2-3-2 Moving the R6YXX1200 ................3-8 Installing the robot ..................
  • Page 40 Installing the Z-axis additional mechanical stopper ........3-46 8-3-1 Installing the minus direction stopper ............3-46 8-3-2 Installing the plus direction stopper ............3-49 Overrun amounts during impacts with X, Y and Z-axis additional mechanical stoppers ....................... 3-50 9 Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope ............3-51 10 Stopping Time and Stopping Distance at Emergency Stop ....3-57 10-1 R6YXH250, R6YXH350, R6YXH400 ............

  • Page 41: Chapter 3 Installation

    Working space repair, etc.) For detailed information on how to install the robot controller, refer to the sepa- rate "OMRON Robot Controller User's Manual". WARNING AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY, OR IN ENVIRONMENTS WHERE WATER, CORROSIVE GASES, METALLIC POWDER OR DUST ARE GENERATED.
  • Page 42 CHAPTER 3 Installation WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION. ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE MANIPULATOR TO FALL OVER.

  • Page 43: Installation Base

    CHAPTER 3 Installation Installation base 1) Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reac- tion force while the robot is operating. The maximum reaction force (see Fig.
  • Page 44 CHAPTER 3 Installation CAUTION THE MANIPULATOR POSITIONING MIGHT DECREASE IF THE INSTALLATION SURFACE PRECISION IS INSUFFICIENT. CAUTION IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE OR A THIN METALLIC PLATE IS ATTACHED TO THE INSTALLATION BASE, VIBRATION (RESONANCE) MAY OCCUR DURING OPERATION, CAUSING DETRIMENTAL EFFECTS ON THE MANIPULATOR WORK.

  • Page 45: Installation

    CHAPTER 3 Installation Installation Unpacking WARNING THE ROBOT AND CONTROLLER ARE HEAVY. TAKE SUFFICIENT CARE NOT TO DROP THEM DURING MOVING OR UNPACKING AS THIS MAY DAMAGE THE EQUIPMENT OR CAUSE BODILY INJURY. CAUTION WHEN MOVING THE ROBOT OR CONTROLLER BY EQUIPMENT SUCH AS A FORKLIFT THAT REQUIRE A LICENSE, ONLY PROPERLY QUALIFIED PERSONNEL MAY OPERATE IT.

  • Page 46: Checking The Product

    ( x 2) Robot cables YRC Controller Option O M R O N O M R O N PB programming box * Refer to the "OMRON Robot Controller User's Manual" for details on the controller accessories and options. Fig. 3-3 Product configurations...

  • Page 47: Moving The Robot

    CHAPTER 3 Installation Moving the robot WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT. • DO NOT ALLOW ANY PART OF YOUR BODY TO ENTER THE AREA BENEATH THE ROBOT DURING WORK. • ALWAYS WEAR A HELMET, SAFETY SHOES AND GLOVES DURING WORK.

  • Page 48: Moving The R6Yxx1200

    CHAPTER 3 Installation 2-3-2 Moving the R6YXX1200 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.
  • Page 49 CHAPTER 3 Installation 5) Wind the robot cable around the upper part of the robot pedestal so that it does not hang up on the base mount, then fasten the cable end with adhe- sive tape. 6) Prepare two looped ropes with the same length to allow a good lifting bal- ance, then pass each rope through each eyebolt and catch it on the hoist hook.
  • Page 50 CHAPTER 3 Installation Set screw Eyebolt (2 pieces supplied with the robot) Arm clamping stay (supplied with the robot) Bolt (2 pieces supplied with the robot) Tightening toeque 4.5N•m (46kgf•cm) X-axis arm cover Bearing surface for eyebolt Hoist hook Rope R6YXX1200 45°...

  • Page 51: Installing The Robot

    CHAPTER 3 Installation Installing the robot Install the robot securely with the four hex socket head bolts as shown in Fig. 3-6. WARNING WHEN INSTALLING THE ROBOT, BE SURE TO USE THE SPECIFIED SIZE AND QUANTITY OF BOLTS THAT MATCH THE DEPTH OF TAPPED HOLES IN THE INSTALLATION BASE, AND SECURELY TIGHTEN THE BOLTS TO THE CORRECT TORQUE.

  • Page 52: Protective Bonding

    3) 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". 4) Use a ground cable with a conductor wire cross section of at least 2.0mm and a length within 1 meter.
  • Page 53 CHAPTER 3 Installation Ground symbol M4 Ground terminal Fig. 3-7 Ground terminal 3-13...

  • Page 54: Robot Cable Connection

    Robot Cable Connection The robot cable is pre-connected to the X series robot. For details on con- nections to the robot controller, refer to Fig. 3-8 and the "OMRON Robot Controller User's Manual". After making connections, check the operation while referring to "6 Trial operation" in Chapter 1.
  • Page 55 CHAPTER 3 Installation WARNING LAY OUT THE ROBOT CABLES SO AS TO KEEP THE OPERATOR OR ANY OTHER PERSON FROM TRIPPING ON THEM. BODILY INJURY MAY RESULT IF SOMEONE TRIPS ON THE CABLES. Controller side connectors Robot side connectors YRC controller Robot cables ROB I/O ROB I/O...

  • Page 56: User Wiring And User Tubing

    CHAPTER 3 Installation User Wiring and User Tubing WARNING ALWAYS TURN OFF THE CONTROLLER AND SHUT OFF AIR SUPPLY BEFORE ATTEMPTING WIRING AND PIPING WORK. IF AIR OR POWER IS SUPPLIED DURING THIS WORK, THE MANIPULATOR MAY MOVE ERRONEOUSLY CAUSING A HAZARDOUS SITUATION. 1) The X series robots are equipped with user wires and air tubes in the ma- chine harness.
  • Page 57 CHAPTER 3 Installation 3) Signal wiring connections in the machine harness 1. R6YXH250, R6YXH350, R6YXH400 Connector pins 1 to 10 can be used. Pin 15 is connected to a shield wire and cannot be used as a signal wire. Connection Connector Color Signal...
  • Page 58 CHAPTER 3 Installation 4) As shown in Fig. 3-9, solder the user cable wires to the D-sub connector (supplied with the robot). Reattach the hood to the D-sub connector after soldering, then plug it into the user wiring connector. The connector pinouts as viewed from the solder side are shown below. Hood Soldering Cable to be...
  • Page 59 CHAPTER 3 Installation WARNING AVOID FASTENING THE USER CABLE OR TUBE WITH THE MACHINE HARNESS, AS THIS MAY LEAD TO HARNESS BREAKAGE AND MALFUNCTION. WARNING MAKE SURE THAT THE USER CABLE ATTACHED TO THE D-SUB CONNECTOR FOR USER WIRING AND THE TUBE ATTACHED TO THE BULKHEAD UNION FOR USER TUBING WILL NOT INTERFERE WITH THE ROBOT MOVEMENT, ENTANGLE AROUND THE ROBOT OR FLAP AROUND DURING OPERATION.

  • Page 60: Attaching The End Effector

    To make settings for the tip mass and acceleration coefficient, refer to the separate "OMRON Robot Controller User's Manual". 3) Methods for calculating the moment of inertia of the load are shown in Section 6-2, however, it is not easy to precisely figure out these values.
  • Page 61 CHAPTER 3 Installation CAUTION DEPENDING ON THE Z-AXIS POSITION, VIBRATION MAY OCCUR WHEN THE X, Y OR R-AXIS MOVES. IF THIS HAPPENS, REDUCE THE X, Y OR R-AXIS ACCELERATION TO AN APPROPRIATE LEVEL. CAUTION IF THE MOMENT OF INERTIA IS TOO LARGE, VIBRATION MAY OCCUR ON THE Z-AXIS DEPENDING ON ITS OPERATION POSITION.

  • Page 62: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxh250)

    CHAPTER 3 Installation 6-1-1 Acceleration coefficient vs. moment of inertia (R6YXH250) 0.01 ( 0.1 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-10 m=1kg 0.01 ( 0.1 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig.

  • Page 63: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxh350)

    CHAPTER 3 Installation 6-1-2 Acceleration coefficient vs. moment of inertia (R6YXH350) 0.005 ( 0.05 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-13 m=1kg 0.004 ( 0.04 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig.

  • Page 64: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxh400)

    CHAPTER 3 Installation 6-1-3 Acceleration coefficient vs. moment of inertia (R6YXH400) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-16 m=1kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-17 m=2kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf •...

  • Page 65: Acceleration Coefficient Vs. Moment Of Inertia (R6Yxx1200)

    CHAPTER 3 Installation 6-1-4 Acceleration coefficient vs. moment of inertia (R6YXX1200) 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-19 m=0 to 5kg 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf...
  • Page 66 CHAPTER 3 Installation 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-22 m=16 to 20kg 0.15 ( 1.5 ) 0.15 ( 1.5 ) (kgm (kgm (kgf (kgf • • • • Fig.
  • Page 67 CHAPTER 3 Installation 0.3 ( 3.0 ) 0.5 ( 5.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-25 m=31 to 35kg 0.3 ( 3.0 ) 1.2 ( 12.0 ) (kgm (kgm (kgf (kgf • • • • Fig.

  • Page 68: Equation For Moment Of Inertia Calculation

    CHAPTER 3 Installation Equation for moment of inertia calculation Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not easy. As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated.
  • Page 69 CHAPTER 3 Installation 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 Fig. 3-81 is given below. ρπ D h (kgm ρπ D h (kgf ·...
  • Page 70 CHAPTER 3 Installation 5) When the object's center line is offset from the rotation center. The equation for the moment of inertia, when the center of the cylinder is offset by the distance "x" from the rotation center as shown in Fig. 3-83, is given as follows.

  • Page 71: Example Of Moment Of Inertia Calculation

    CHAPTER 3 Installation 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 a stay, as shown in Fig. 3-86. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density ρ...
  • Page 72 CHAPTER 3 Installation 2) Moment of inertia of the chuck R-axis When the chuck form resem- bles that shown in Fig. 3-37, the weight of the chuck (Wc) Wc = 0.0078 x 2 x 4 x 6 = 0.37 (kgf ) The moment of inertia of the chuck (Jc) is then calculated from Eq.

  • Page 73: Attaching The End Effector

    CHAPTER 3 Installation Attaching the end effector WARNING BEFORE ATTACHING THE END EFFECTOR, BE SURE TO TURN OFF THE CONTROLLER. The manipulator part to which an end effector is attached must have adequate strength and rigidity, as well as gripping force to prevent positioning errors. Ta- ble 3-1 shows the maximum load that can be applied to the end effector attach- ment of each robot model.
  • Page 74 CHAPTER 3 Installation CAUTION THE HORIZONTAL HOLE PROVIDED IN THE SPLINE IS FOR ATTACHING A USER TOOL OR R-AXIS ROTATION DURING DIRECT TEACHING. DO NOT INSERT A PIN OR ROD INTO THIS HOLE IN ORDER TO STOP A USER TOOL FROM ROTATING. DOING SO MAY DAMAGE THE SPLINE. WHEN INSERTING A ROD INTO THIS HOLE TO ROTATE THE R-AXIS, USE A ROUND ROD WITH A DIAMETER SLIGHTLY SMALLER THAN THE DIAMETER OF EACH HOLE.
  • Page 75 CHAPTER 3 Installation Table 3-2 Tightening torque Number of Bolts Used Hole diameter(mm) bolts Robot Model kgf·cm +0.018 M4 or lager 2 or more R6YXH250 +0.018 M4 or lager 2 or more R6YXH350 +0.018 M4 or lager 2 or more R6YXH400 M10 or lager 2 or more...
  • Page 76 CHAPTER 3 Installation WARNING THE END EFFECTOR ATTACHMENT MUST HAVE SUFFICIENT RIGIDITY VERSUS THE LOADS LISTED IN TABLE 3-1. IF THIS RIGIDITY IS INADEQUATE, THE END EFFECTOR MAY VIBRATE DURING ROBOT OPERATION CAUSING BAD EFFECTS ON THE MANIPULATOR OPERATION. WARNING •...

  • Page 77: Gripping Force Of End Effector

    CHAPTER 3 Installation Gripping force of end effector The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the work- piece during robot operation. The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment.

  • Page 78: Limiting The Movement Range With X-Axis Mechanical Stoppers (R6Yxx1200)

    CHAPTER 3 Installation Limiting the Movement Range with X-Axis Me- chanical Stoppers (R6YXX1200) In the R6YXX1200 robot, the movement range can be limited by changing the X-axis mechanical stopper positions. (The Y-axis mechanical stopper positions are fixed and cannot be changed.) When the robot is shipped from the factory, the movement range is set to the maximum.

  • Page 79: R6Yxx1200

    CHAPTER 3 Installation R6YXX1200 To change the X-axis mechanical stopper positions, use the procedure below. 1) Prepare the necessary tools. Hex wrench set 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch.
  • Page 80 CHAPTER 3 Installation 128° Y-axis mechanical stopper Tapped hole for stopper installation X-axis mechanical stopper Fig. 3-43 Mechanical stopper positions and movement range (R6YXX1200) 3-40...

  • Page 81: Limiting The Movement Range With X-, Y- And Z-Axis Mechanical Stoppers (R6Yxh250, R6Yxh350, R6Yxh400)

    CHAPTER 3 Installation Limiting the Movement Range with X-, Y- and Z- Axis Mechanical Stoppers (R6YXH250, R6YXH350, R6YXH400) Installing the X-, Y- and Z-axis additional mechanical stoppers The X-, Y- and Z-axis movement ranges can be narrowed as shown in Table 3-6 by ordering and installing additional optional parts listed in Table 3-5.
  • Page 82 CHAPTER 3 Installation Table 3-6 R6YXH250, R6YXH350, R6YXH400 YK250X(H), YK350X(H), YK400X(H) Standard stopper Additional stopper Stopper position in X-axis plus/minus directions 132˚ 105˚ Maximum movement position in X-axis plus/minus 115˚ 102˚ R6YXH250, R6YXH350 Standard stopper Additional stopper Stopper position in Y-axis plus/minus directions 142˚...
  • Page 83 CHAPTER 3 Installation YK250X(H), YK350X(H), YK400X(H) R6YXH250, R6YXH350, R6YXH400 Soft limit (pulses) Working envelope Y-axis working envelope in plus direction 193422 85˚ Y-axis working envelope in minus direction -193422 -85˚ R6YXH250, R6YXH350, R6YXH400 YK250X(H), YK350X(H), YK400X(H) Soft limit (pulses) Working envelope 16384 (150- (L )) /12 150- (L...

  • Page 84: Installing The X- And Y-Axis Additional Mechanical Stoppers

    CHAPTER 3 Installation Installing the X- and Y-axis additional mechanical stoppers Install the X- and Y-axis additional mechanical stoppers by following the in- structions shown in Fig. 3-45. The X- and Y-axis mechanical stoppers can be installed separately in the plus and minus directions.
  • Page 85 CHAPTER 3 Installation In this case, set the soft limits smaller than the values shown in Table 3-6. Tightening torque: 42Nm (425kgf•cm) Place the damper between the bolt head and nut, and then tighten the nut to secure the parts to the arm side. Minus direction Plus...

  • Page 86: Installing The Z-Axis Additional Mechanical Stopper

    CHAPTER 3 Installation Installing the Z-axis additional mechanical stopper 8-3-1 Installing the minus direction stopper Install the additional mechanical stopper in the Z-axis minus direction by fol- lowing the instructions shown in Fig. 3-46. 1) Prepare the hex wrench set and torque wrench. 2) Turn off the robot controller.
  • Page 87 CHAPTER 3 Installation (4) After the Z-axis absolute reset is complete, press the F10 (UPPER+F5) key to display the adjustment machine reference value (%). When the machine reference is within the allowable range (between 26% and 74%), proceed to step 16). If the machine reference is outside the al- lowable range, adjust it as described in step 11) onward.
  • Page 88 CHAPTER 3 Installation Apply adhesive to the upper Plus direction stopper surface of q and bond e to wTightening torque: 4.5Nm (46Kgf•cm) Minus direction Minus direction stopper Move up the urethane damper. Plus direction Fig. 3-46 3-48...

  • Page 89: Installing The Plus Direction Stopper

    CHAPTER 3 Installation 8-3-2 Installing the plus direction stopper Install the additional mechanical stopper in the Z-axis plus direction by follow- ing the instructions shown in Fig. 3-46. 1) Prepare the hex wrench set and torque wrench. 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch.

  • Page 90: Overrun Amounts During Impacts With X, Y And Z-Axis Additional Mechanical Stoppers

    CHAPTER 3 Installation 15) Reattach the Y-axis arm cover. WARNING THE PLUS DIRECTION STOPPER WILL BECOME A LOAD, AND SO THE Z-AXIS ACCELERATION MUST BE REDUCED AS SHOWN BELOW. IF NOT REDUCED, THE SERVICE LIFE OF THE Z-AXIS DRIVE UNIT WILL DECREASE.

  • Page 91: Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope

    CHAPTER 3 Installation Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope Working envelope of each robot and mechanical stopper positions for the maxi- mum working envelope are shown in Fig. 3-47 to Fig. 3-50. Z-axis upper end mechanical stopper position 144.52 Z-axis lower end...
  • Page 92 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.52 Z-axis lower end mechanical stopper position R6YXH350 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 93 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.52 Z-axis lower end mechanical stopper position R6YXH400 (Z-axis mechanical stopper position) R145 Manipulator interference area Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig. 3-49 R6YXH400 3-53...
  • Page 94 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 3812 Z-axis lower end mechanical stopper position R6YXX1200 (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 95 CHAPTER 3 Installation Here, working envelope and mechanical stopper positions for the maximum working envelope of a robot are described using the R6YXH250 as an exam- ple. Other robot models are the same. 1) X and Y axes 1. Do not attempt operation outside the working envelope. On the X series, the origin can be set at any position.
  • Page 96 CHAPTER 3 Installation Z-axis Robot model X-axis Y-axis Upper end Lower end R6YXH250, R6YXH350, R6YXH400 10° 2° Note: Here, ° (deg.) is the overrun angle at the X-axis and Y-axis joints. 1. When the robot strikes the X-axis or Y-axis mechanical stopper or an- other object, or when the R-axis collides with an object, speed reduction gears are locked while being meshed if the collision impact is large.

  • Page 97: Stopping Time And Stopping Distance At Emergency Stop

    CHAPTER 3 Installation Stopping Time and Stopping Distance at Emergency Stop When the emergency stop button is pressed during robot operation or the power supply to the controller is turned off, the stopping time and stopping distance or angle of the main 3 axes change depending on the operation speed as shown be- low.
  • Page 98 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-53 XY-axis minus direction stopping time for R6YXH250 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig. 3-54 XY-arm minus direction stopping rotation angle for R6YXH250 3-58...
  • Page 99 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 0.35 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-55 XY-axis plus direction stopping time for R6YXH350 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 100 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 0.35 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-57 XY-axis minus direction stopping time for R6YXH350 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 101 CHAPTER 3 Installation 0.45 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.35 0.25 0.15 0.05 Operation speed (%) Fig. 3-59 XY-axis plus direction stopping time for R6YXH400 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 102 CHAPTER 3 Installation 0.45 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.35 0.25 0.15 0.05 Operation speed (%) Fig. 3-61 XY-axis minus direction stopping time for R6YXH400 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 103 CHAPTER 3 Installation 0.05 1kg Z-axis 2kg Z-axis 0.045 3kg Z-axis 0.04 0.035 0.03 0.025 0.02 0.015 0.01 0.005 Operation speed (%) Fig. 3-63 Z-axis stopping time for R6YXH250 and R6YXH350 Operation speed (%) Fig. 3-64 Z-axis stopping distance for R6YXH250 and R6YXH350 3-63...
  • Page 104 CHAPTER 3 Installation 0.05 1kg Z-axis 2kg Z-axis 0.045 3kg Z-axis 0.04 0.035 0.03 0.025 0.02 0.015 0.01 0.005 Operation speed (%) Fig. 3-65 Z-axis stopping time for R6YXH400 Operation speed (%) Fig. 3-66 Z-axis stopping distance for R6YXH400 3-64...

  • Page 105: R6Yxx1200

    CHAPTER 3 Installation 10-2 R6YXX1200 16.5kg XY-axis 33kg XY-axis 50kg XY-axis Operation speed (%) Fig. 3-67 XY-axis stopping time for R6YXX1200 16.5kg X-axis 33kg X-axis 50kg X-axis 16.5kg Y-axis 33kg Y-axis 50kg Y-axis Operation speed (%) Fig. 3-68 XY-arm stopping rotation angle for R6YXX1200 3-65...
  • Page 106 CHAPTER 3 Installation 0.07 16.5kg Z-axis 33kg Z-axis 50kg Z-axis 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Fig. 3-69 Z-axis stopping time for R6YXX1200 16.5kg 33kg 50kg Operation speed (%) Fig. 3-70 Z-axis stopping distance for R6YXX1200 3-66...
  • Page 107 CHAPTER Adjustment 1 Overview ....................4-1 2 Safety Precautions ................4-1 3 Adjusting the origin ................4-2 Absolute reset method................... 4-3 3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ..........4-3 3-1-2 Mark method (X-axis, Y-axis, and R-axis) ..........4-4 3-1-3 Stroke end method (Z-axis) ................. 4-4 Machine reference ..................

  • Page 109: Chapter 4 Adjustment

    CHAPTER 4 Adjustment Overview OMRON robots have been completely adjusted at the factory or by the sales representative before shipment, including the origin position adjustment. If the operating conditions are changed and the robot must be adjusted, then follow the procedures described in this chapter.

  • Page 110: Adjusting The Origin

    "c" (below), so please perform absolute reset after installing the robot. For more details on absolute reset, re- fer to "Absolute Reset" in Chapter 4 of the "OMRON Robot Controller User's Manual".

  • Page 111: Absolute Reset Method

    CHAPTER 4 Adjustment CAUTION MAKE POINT DATA SETTING AFTER CHANGING THE ORIGIN POSITION. AFTER CHANGING THE ORIGIN POSITION, DO NOT USE THE PREVIOUS POINT DATA. There are three absolute reset methods for the X series: the sensor method, mark method, and stroke end method. The X-axis, Y-axis, and R-axis use the sensor method as the initial setting, while the Z-axis uses the stroke end method.

  • Page 112: Mark Method (X-Axis, Y-Axis, And R-Axis)

    CHAPTER 4 Adjustment 3-1-2 Mark method (X-axis, Y-axis, and R-axis) In the mark method, you move the robot beforehand, to the position where you want to perform absolute reset and then perform absolute reset there. Use either of the following 2 methods to move the robot to the position where you want to perform absolute reset.

  • Page 113: Machine Reference

    CHAPTER 4 Adjustment Machine reference The X series position detectors are resolvers that have four positions where absolute reset can be performed per motor revolution. If the sensor method is used for the absolute reset, the origin position will be set at the positions where absolute reset can be performed soon after the origin sensor reacts to the dog (the origin signal is detected).

  • Page 114: Absolute Reset Procedures

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 115 CHAPTER 4 Adjustment 8) After the absolute reset is completed, check that the machine reference value displayed on the PB is between 40 and 60 (recommended range). If the machine reference value is outside the recommended range, then the next absolute reset may not be properly performed. In this case, refer to "3-4 Changing the origin position and adjusting the machine reference", and make the necessary adjustments.

  • Page 116: Mark Method (X-Axis, Y-Axis, And R-Axis)

    CHAPTER 4 Adjustment 3-3-2 Mark method (X-axis, Y-axis, and R-axis) The absolute reset in the mark method is divided into four types according to the conditions as shown in Fig. 4-3. Since each operating procedure is different, refer to the corresponding section in this manual.

  • Page 117: Absolute Reset With Servo On (Re-Reset)

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 118 CHAPTER 4 Adjustment 7) Do as follows according to the axis that was selected. (1) X, Y and R axes 1. Jog the robot in steps using the F1 or F2 key so the origin position marks align with each other. (Robot movement speed can be adjusted with the F4 or F5 key.) CAUTION THERE ARE SEVERAL DISPERSED POSITIONS WHERE ABSOLUTE...

  • Page 119: Absolute Reset With Servo Off (Re-Reset)

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 120 CHAPTER 4 Adjustment 8) After moving the robot to a position for absolute reset, check that the figure of the selected axis displayed on the PB screen is within 26 to 74 and press the ENTER key. CAUTION THERE ARE SEVERAL DISPERSED POSITIONS WHERE ABSOLUTE RESET CAN BE PERFORMED.

  • Page 121: Absolute Reset With Servo On. (New Reset)

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 122 8) After absolute reset is complete, move all robot axes to their "0" pulse posi- tions. To move axes to their "0" pulse positions, see Chapter 4, "Point trace function" in the "OMRON Robot Controller User's Manual". CAUTION BEFORE AFFIXING THE ORIGIN POSITION STICKERS, BE SURE TO MOVE ALL ROBOT AXES BACK TO THEIR "0"...
  • Page 123 CHAPTER 4 Adjustment 9) After moving all the axes back to their "0" pulse positions, press the emer- gency stop button and affix the supplied origin position stickers to the up- per and lower areas of the X-axis, Y-axis, and R-axis. Use these marked positions to perform an absolute reset if it is needed in the future.

  • Page 124: Absolute Reset With Servo Off. (New Reset)

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 125 10) After absolute reset is complete, set the robot to servo-on and move all robot axes to their "0" pulse positions. To move axes to their "0" pulse positions, see Chapter 4, "Point trace function" in the "OMRON Robot Controller User's Manual".
  • Page 126 CHAPTER 4 Adjustment CAUTION BE CAREFUL NOT TO LET THE ROBOT JOINTS MOVE WHILE ATTACHING THE ORIGIN STICKERS. WHEN THE SERVO IS OFF, THE ROBOT JOINTS MAY SOMETIMES MOVE DUE TO TENSION IN THE HARNESS FROM THE ARM POSITION. IF THIS IS THE CASE, THE ORIGIN SHOULD BE SET TO ANOTHER POSITION WHERE THE JOINTS WILL NOT MOVE.
  • Page 127 CHAPTER 4 Adjustment Table 4-1 Origin position repeatability tolerance R6YXH250, R6YXH350, R6YXH400 Origin position repeatability tolerance (°) Axis Origin position repeatability tolerance (mm) ±0.90 X-axis ±0.78 ±0.90 ±0.78 Y-axis ±0.90 ±0.58 R-axis R6YXX1200 Origin position repeatability tolerance (°) Axis Origin position repeatability tolerance (mm) ±0.37 X-axis ±0.64...
  • Page 128 CHAPTER 4 Adjustment Origin position mark (Setting on the user side) Fig. 4-5 Origin position mark setting example R6YXH250, R6YXH350, R6YXH400 4-20...
  • Page 129 CHAPTER 4 Adjustment Origin position sticker (Setting on the user side) Origin position sticker (Setting on the user side) Fig. 4-6 Origin position mark setting example R6YXX1200 4-21...

  • Page 130: Stroke End Method (Z-Axis)

    The operation procedure using the PB is described next. (Press the ESC key on the PB if you want to return to the preceding step.) See the "OMRON Robot Controller User's Manual" for information on operat- ing the robot controller.

  • Page 131: Changing The Origin Position And Adjusting The Machine Reference

    CHAPTER 4 Adjustment Changing the origin position and adjusting the machine reference CAUTION IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE ADJUSTED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET.

  • Page 132: Sensor Method

    CHAPTER 4 Adjustment 3-4-1 Sensor method 3-4-1-1 R6YXH250, R6YXH350, R6YXH400 1-1 Adjusting the X-axis machine reference The adjustment method for the X-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 133 CHAPTER 4 Adjustment 12) Perform the absolute reset from outside the safeguard enclosure. 13) After the absolute reset is completed, read the machine reference value dis- played on the PB. 14) If the machine reference value is in the range between 40 and 60 (recom- mended range), then the machine reference has been completely adjusted.
  • Page 134 CHAPTER 4 Adjustment 1-2 Changing the X-axis origin position CAUTION IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE ADJUSTED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET. The method to change the X-axis origin position is as follows.
  • Page 135 CHAPTER 4 Adjustment 2-1 Adjusting the Y-axis machine reference The adjustment method for the Y-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 136 CHAPTER 4 Adjustment 2-2 Changing the Y-axis origin position CAUTION IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE ADJUSTED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET. The method to change the Y-axis origin position is as follows.
  • Page 137 CHAPTER 4 Adjustment 3-1 Adjusting the R-axis machine reference The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 138 CHAPTER 4 Adjustment 3-2 Changing the R-axis origin position CAUTION IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE ADJUSTED, AND POINT DATA MUST BE RESET. The method to change the R-axis origin position is as follows. 1) Prepare the necessary tools.
  • Page 139 CHAPTER 4 Adjustment X-axis dog ring X-axis dog X-axis origin sensor Set screw (One each on opposite sides) R-axis origin sensor Y-axis origin sensor R-axis dog R-axis dog ring Y-axis dog Y-axis dog ring Table 4-2 Axis Movement amount (mm) for 100% of machine reference 1.88 1.54 1.38...

  • Page 140: Mark Method

    CHAPTER 4 Adjustment 3-4-2 Mark method In the mark method, the origin position can be changed with the absolute reset at the desired position. It is not necessary to adjust the machine reference. Refer to "Chapter 4, 3-3 Absolute reset procedures" for information about the absolute reset method with the mark method.

  • Page 141: Stroke End Method

    CHAPTER 4 Adjustment 3-4-3 Stroke end method The stroke end method is employed on the X series robots for the absolute reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed.
  • Page 142 CHAPTER 4 Adjustment WARNING IF THE Z-AXIS MOTOR COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND. 8) Adjust the distance (L) between the Z-axis mechanical stopper and the axis end so it is set to the value shown in Table 4-3.

  • Page 143: R6Yxx1200

    CHAPTER 4 Adjustment CAUTION THE ADJUSTMENT MACHINE REFERENCE VALUE IS DISPLAYED WITH THE PROCEDURE BELOW. ALWAYS CHECK THE ADJUSTMENT MACHINE REFERENCE VALUE WHEN THE MACHINE REFERENCE IS ADJUSTED. 1- Press the MODE key. 2- Press the F3 key to set MANUAL mode. 3- Press the F13 (LOWER+F3) key to select "RST.
  • Page 144 CHAPTER 4 Adjustment Z-axis mechanical stopper Fig. 4-10 R6YXH250 to R6YXH400 Fig. 4-11 R6YXX1200 4-36...

  • Page 145: Setting The Soft Limits

    The origin point ( 0 [pulse] ) is used as the reference to set the soft limits. The working envelope can be limited by specifying the number of pulses from the 0 pulse position. Refer to the "OMRON Robot Controller User's Manual" for further details. Also refer to "1-2 External view and dimensions" in Chapter 7 for robot working envelopes.
  • Page 146 CHAPTER 4 Adjustment CAUTION THE ORIGIN POSITION FACTORY-ADJUSTED AT SHIPMENT IS NOT COMPLETELY ALIGNED WITH THE FRONT FACE POSITION OF THE ROBOT. WHEN INTRODUCING THE ROBOT, BE SURE TO SET THE SOFT LIMITS WITH THE NUMBER OF PULSES FROM THE ORIGIN POSITION (0 PULSE POSITION).
  • Page 147 CHAPTER 4 Adjustment (2) Setting the Z-axis soft limits Make this setting from outside the safeguard enclosure. The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual working range of the robot is smaller than the maximum working envelope or the manipulator interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.

  • Page 148: Setting The Standard Coordinates

    5) Make the standard coordinate settings while referring to methods for "Setting the Standard Coordinates" as explained in the "OMRON Robot Controller User's Manual". Never enter within the robot movement range. 6) When the standard coordinate settings are complete, check the following points from outside the safeguard enclosure.

  • Page 149: Affixing Stickers For Origin Positions, Movement Directions And Axis Names

    2) Move the robot to the 0 pulse position. To move the axes to their "0" pulse positions, see "Chapter 4 Point trace function" in the "OMRON Robot Controller User's Manual". 3) Turn off the controller. 4) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch.
  • Page 150 CHAPTER 4 Adjustment End effector Fig. 4-13 Positions for affixing the stickers 4-42...

  • Page 151: Removing The Robot Covers

    CHAPTER 4 Adjustment Removing the Robot Covers To remove the robot cover, follow the procedure below. 1) Prepare the necessary tools. • Hex wrench set • Phillips-head screwdriver 2) Turn off the controller. 3) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch.
  • Page 152 CHAPTER 4 Adjustment 3- M3x6 (with washer) Y-axis upper cover Base rear cover 2- M4x6 Base front cover 1- M4x6 4- M3x10 5- M3x16 Fig. 4-14 4-44...
  • Page 153 CHAPTER 4 Adjustment 4- M4x6 6- M4x6 Y-axis arm front cover 7- M4x6 Y-axis arm side cover X-axis arm upper cover X-axis arm under cover 5- M4x6 Base rear cover 1 1- M4x6 Base front cover Base rear cover 2 2- M4x6 3- M4x6 Fig.

  • Page 154: Adjusting The Timing Belt Tension

    CHAPTER 4 Adjustment Adjusting the Timing Belt Tension The X series robots use a timing belt for controlling the movement of the Z and R axes. If the belt becomes slack, use the following procedure to give proper tension to the belt. WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF...

  • Page 155: Adjusting The Belt Tension (R6Yxh250, R6Yxh350, R6Yxh400)

    CHAPTER 4 Adjustment Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400) WARNING IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE BEGINNING ADJUSTMENT.
  • Page 156 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt 2 shown in Fig. 4-18. 2. If the load producing the slack specified in Table 4-7 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 157: Adjusting The Belt Tension (R6Yxx1200)

    CHAPTER 4 Adjustment Adjusting the belt tension (R6YXX1200) WARNING IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE BEGINNING ADJUSTMENT. Adjust the Z-axis and R-axis timing belts of the R6YXX1200 with the proce- dure below.
  • Page 158 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt 2 shown in Fig. 4-19. 2. If the load producing the slack specified in Table 4-7 (step 7) above) is smaller than the specified range, move the R-axis motor in the direc- tion increasing the tension.
  • Page 159 CHAPTER 4 Adjustment Table 4-6 Z-axis belt speci cations Robot model Load (N) Load (kgf ) Slack (mm) (Ref.) Belt vibration frequency (Hz) R6YXH250, R6YXH350 2.7 to 2.9 0.28 to 0.30 430 to 453 2.8 to 3.1 0.29 to 0.32 R6YXH400 215 to 226 11.7 to 12.6...
  • Page 161 CHAPTER Periodic Inspection 1 Overview ....................5-1 2 Precautions ..................5-2 3 Daily Inspection .................5-3 4 Six-Month Inspection .................5-5 5 Replacing the Harmonic Drive ............5-8 Replacement period ..................5-8 Basic replacement procedure for harmonic drive and precautions ....5-10 5-2-1 R6YXH250, R6YXH350, R6YXH400 ............. 5-12 5-2-2 R6YXX1200 .....................

  • Page 163: Chapter 5 Periodic Inspecition

    CHAPTER 5 Periodic Inspection Overview Daily and periodic inspection of the OMRON robot is essential in order to ensure safe and efficient operation. This chapter describes the periodic inspec- tion items and procedures for the OMRON X series robots. Periodic inspection includes: •...

  • Page 164: Precautions

    CHAPTER 5 Periodic Inspection Precautions (1) Periodic inspection must be performed by or in the presence of person- nel who have received the Robot Training given by OMRON or OMRON dealers. (2) Do not attempt any inspection, adjustment, repair and parts replacement not described in this manual.

  • Page 165: Daily Inspection

    Checkpoint Procedure Machine harness Check for scratches, dents and excessive bend and kinks. Robot cable (If the machine harness or robot cable is damaged, contact OMRON User cable and wiring dealer.) Check air pressure. Regulator, joints, air tube, Check for air leaks.
  • Page 166 (1) and (2) above. 2) If repair or parts replacement is required for the robot or controller, please contact your OMRON dealer. This work requires specialized technical knowledge and skill, so do not attempt it by yourself.

  • Page 167: Six-Month Inspection

    COMPLETELY WITH SOAP AND WATER. • IF TAKEN INTERNALLY, DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR TREATMENT. CAUTION UNLESS GREASE SPECIFIED BY OMRON IS USED, THE SERVICE LIFE OF THE BALL SCREW, BALL SPLINE AND LINEAR BUSHING SHAFT WILL SHORTEN.
  • Page 168 The speci ed spline, linear shaft grease is Alvania No.2 (SHOWA SHELL SEKIYU KK). Check for backlash. (If any abnormality is found, contact Z-axis ball spline, ball screw OMRON dealer.) *1 Bolt tightening torque Bolt size Tightening torque (kgf·cm) Tightening torque (N·m)
  • Page 169 • Check for abnormal noise from the rotating fan. If base (pedestal) abnormal noise is heard, visually check and remove the cause. If no cause is found, contact OMRON dealer. • Check for dust on the fan cover. Remove and clean if necessary.

  • Page 170: Replacing The Harmonic Drive

    CHAPTER 5 Periodic Inspection Replacing the Harmonic Drive The X series robots listed in Table 5-1 use a harmonic drive as the speed reduc- tion gear for the X, Y and R axes. Harmonic drives need to be replaced after a specified operation time.
  • Page 171 CHAPTER 5 Periodic Inspection Table 5-2 Bolt tightening torque Bolt size Tightening torque (kgf·cm) Tightening torque (N·m) M3 button head bolt M4 set screw 15.3...

  • Page 172: Basic Replacement Procedure For Harmonic Drive And Precautions

    CHAPTER 5 Periodic Inspection Basic replacement procedure for harmonic drive and precautions Basic procedures and precautions for replacing the harmonic drive are de- scribed below. Before beginning the replacement work, always be sure to read these replacement procedures and caution. WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF...
  • Page 173 DAMAGED RESULTING IN A HAZARDOUS SITUATION OF THE ROBOT TROUBLE. CAUTION THE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE GREASE RECOMMENDED BY OMRON IS NOT USED. Recommended grease Use the following harmonic drive grease. 4B No.2 (made by Harmonic Drive Systems Inc.)

  • Page 174: R6Yxh250, R6Yxh350, R6Yxh400

    • Screw Lock (thread sealant) • Ratchet handle • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic drive SHF-20-50 KN3-M2110-001 S71(JIS)
  • Page 175 CHAPTER 5 Periodic Inspection 6) Remove the X-axis arm installation bolts (M3×40L, 8 pieces). (See Fig. 5-1.) M3×40 M6×14 Fig. 5-1 CAUTION AN O-RING IS FITTED TO THE X-AXIS ARM, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-2.) O-ring (S71 : KN3-M2159-000) Fig.
  • Page 176 CHAPTER 5 Periodic Inspection 8) Remove the base assembly bolts (M6×14L, 6 pieces) to separate base 1 and base 2. (See Fig. 5-1 and Fig. 5-3.) M6×14 Base 1 M5×12 Base 2 Fig. 5-3 9) Remove the bolts (M5×12L, 4 pieces) securing the motor and remove the motor from base 1.
  • Page 177 CHAPTER 5 Periodic Inspection 10) Remove the wave generator from the motor shaft. The wave generator is secured with an M3 set screw. (See Fig. 5-6.) 11) Remove the X-axis harmonic drive installation bolts (M3×20L, 16 pieces) M3×20 Fig. 5-5 12) Remove the X-axis harmonic drive from the top of base 1.
  • Page 178 CHAPTER 5 Periodic Inspection 14) Apply harmonic grease to the new wave generator and flexspline. See Fig. 5-6 for applying grease properly. Fit O-ring (supplied) into this groove Harmonic drive willl be damaged if O-ring is caught out of groove. O-ring : KN3-M2144-000 M3 set screw Apply grease to entire oldham coupling.
  • Page 179 CHAPTER 5 Periodic Inspection 20) Reattach the base (robot pedestal) front and rear covers. 21) Go outside the safeguard enclosure. 22) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION AFTER THE HARMONIC DRIVE IS REPLACED, AN ABSOLUTE RESET MUST BE PERFORMED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET.
  • Page 180 • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No . OMRON Parts No. Note Harmonic drive SHF-17-50 KN3-M2510-002 S63(JIS) KN3-M2519-000 Lower part of harmonic drive Cross section diameter: 1.00mm x Inner diameter: 29.50mm...
  • Page 181 CHAPTER 5 Periodic Inspection 6) Remove the Y-axis arm installation bolts (M3×20L, 8 pieces). (See Fig. 5-7.) M3×20 Fig. 5-7 7) Remove the Y-axis arm and place it where it will not obstruct the work. CAUTION AN O-RING IS FITTED TO THE UPPER SURFACE OF THE HARMONIC DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
  • Page 182 CHAPTER 5 Periodic Inspection CAUTION THE DOG RING IS USED FOR REASSEMBLY. STORE IT WHERE THE WORK WILL NOT BE DISTURBED. THE DOG RING IS PROVIDED WITH THE SETSCREWS. BE CAREFUL TO AVOID LOSING THEM. 11) Remove the Y-axis harmonic drive from the top of the X-axis arm. CAUTION AN O-RING IS FITTED TO THE X-AXIS HARMONIC DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
  • Page 183 CHAPTER 5 Periodic Inspection 15) Fasten the dog ring on the Harmonic drive. 16) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive 17) Apply harmonic grease to the new wave generator and flexspline. See Fig.
  • Page 184 CHAPTER 5 Periodic Inspection 20) Reattach the Y-axis arm upper cover. 21) Go outside the safeguard enclosure. 22) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION AFTER THE HARMONIC DRIVE IS REPLACED, AN ABSOLUTE RESET MUST BE PERFORMED, AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET.
  • Page 185 • Screw Lock (thread sealant) • Torque-limiting wrench • Adjustable wrench or spanner • Replacement parts (See table below.) Replacement parts Parts name Type No . OMRON Parts No. Note Harmonic drive SHF-14-50 KN3-M1821-001 S53(JIS) KN3-M1895-000 Lower part of harmonic drive Cross section diameter: 0.80mm x Inner diameter: 23.70mm...
  • Page 186 CHAPTER 5 Periodic Inspection WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE U-NUT IS REMOVED IN THE NEXT STEP, CAUSING A HAZARDOUS SITUATION. PROP THE Z-AXIS WITH A SUPPORT STAND BEFORE LOOSENING THE U-NUT. 7) While placing a steel rod or similar tool through the 5mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the wrench, and remove the bearing.
  • Page 187 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE FASTENING PLATE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT. (SEE FIG. 5-14.) O-ring (S53 : KN3-M1895-000) Fig. 5-14 9) Remove the R-axis dog ring from the R-axis Harmonic drive. The dog ring is fastened with M4 setscrews (2 pieces).
  • Page 188 CHAPTER 5 Periodic Inspection 11) Loosen the pulley set screw (M4, 2 pieces) and remove the pulley from the wave generator. (See Fig. 5-15.) 12) Remove the harmonic drive installation bolts (M3×18L, 8 pieces) and pull out the harmonic drive from the bottom of the Y-axis arm. (See Fig. 5-15.) CAUTION AN O-RING IS FITTED TO THE HARMONIC DRIVE, SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT.
  • Page 189 CHAPTER 5 Periodic Inspection CAUTION REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG. 5-16 AT THIS POINT. NEVER REMOVE THE BOLTS ON THE OPPOSITE SIDE. IF THEY ARE REMOVED, THE HARMONIC DRIVE AXIS MAY DEVIATE FROM THE CENTER CAUSING TROUBLE. 19) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive.
  • Page 190 CHAPTER 5 Periodic Inspection Edge seal O-ring : KN3-M1895-000 Fastening plate Spline nut Spline shaft Fig. 5-17 24) Insert the spline into the holder, fit the bearing onto the spline and tighten the U-nut to secure the bearing. (Utilize the φ5 through-hole when tightening the U-nut like you did to loosen it.) (See Fig.

  • Page 191: R6Yxx1200

    • Phillips-head screwdriver • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Hook wrench • Replacement parts (See table below.) Replacement parts OMRON Parts No. Parts name Type No . Note Harmonic drive SHF-25-50 KN6-M1821-001 S90(JIS)
  • Page 192 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the bearing to the upper end of the spline and remove the bearing mount plate. (See Fig. 5-19.) M6×20 Bearing Holder Spline support shaft Fig. 5-19 WARNING THE Z-AXIS WILL SLIDE DOWN WHEN THE U-NUT IS REMOVED IN THE NEXT STEP, CAUSING A HAZARDOUS SITUATION.
  • Page 193 CHAPTER 5 Periodic Inspection 9) Remove the bolts (M4×14L, 2 pieces) on the underside of the Y-axis arm and remove the R-axis dog ring from the fastening plate. 10) Remove the bolts (M4×30L, 8 pieces) on the underside of the Y-axis arm and remove the plate fastening the spline and the harmonic drive.
  • Page 194 CHAPTER 5 Periodic Inspection CAUTION AN O-RING IS FITTED TO THE WAVE GENERATOR, SO BE CAREFUL NOT TO DROP IT INTO THE PERIPHERAL UNIT. 15) Apply harmonic grease to the new wave generator. See Fig. 5-23 for apply- ing grease properly. Wave generator O-ring groove Apply grease to entire oldham coupling.
  • Page 195 CHAPTER 5 Periodic Inspection CAUTION WHEN SECURING THE TIMING BELT, THE BELT TENSION MUST BE ADJUSTED PROPERLY. SEE "8. ADJUSTING THE TIMING BELT TENSION" IN CHAPTER 4 FOR HOW TO ADJUST THE BELT TENSION. 21) Fit a new O-ring into the O-ring groove on the fastening plate and also replace the edge seal with new one.

  • Page 196: Replacing The Grease For Rv Speed Reduction Gears

    Replenishment grease amount (for new RV speed reduction gears) X-axis speed reduction gear 514 cc Y-axis speed reduction gear 192 cc CAUTION THE RV SPEED REDUCTION GEAR SERVICE LIFE MAY SHORTEN IF THE GREASE RECOMMENDED BY OMRON IS NOT USED. 5-34...

  • Page 197: Replacement Procedure

    CHAPTER 5 Periodic Inspection Replacement procedure WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF THESE ARE TOUCHED. BEFORE TOUCHING THESE PARTS, TURN OFF THE CONTROLLER, WAIT FOR A WHILE AND CHECK THAT THE TEMPERATURE HAS COOLED.

  • Page 198: Replacing The X-Axis Grease (First Product To Products Manufactured In September 2009)

    CHAPTER 5 Periodic Inspection 6-3-1 Replacing the X-axis grease (first product to products manufactured in September 2009) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube •...

  • Page 199: Replacing The X-Axis Grease (Products Manufactured From October 2009 Onward)

    CHAPTER 5 Periodic Inspection 6-3-2 Replacing the X-axis grease (products manufactured from October 2009 onward) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube • Grease nipple (A-MT8×1) •...

  • Page 200: Replacing The Y-Axis Grease (First Product To Products Manufactured In September 2009)

    CHAPTER 5 Periodic Inspection 6-3-3 Replacing the Y-axis grease (first product to products manufactured in September 2009) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube •...

  • Page 201: Replacing The Y-Axis Grease (Products Manufactured From October 2009 Onward)

    CHAPTER 5 Periodic Inspection 6-3-4 Replacing the Y-axis grease (products manufactured from October 2009 onward) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube • Grease nipple (A-MT8×1) •...
  • Page 203 CHAPTER Increasing the robot operating speed 1 Increasing the robot operating speed ..........6-1...
  • Page 205 CHAPTER 6 Increasing the robot operating speed Increasing the robot operating speed The robot operating speed can be increased by the following methods. Use these methods as needed when programming. (1) Increasing speed by arch motion [Also refer to:] Robot controller user's manual ("Axis parameters"...
  • Page 206 CHAPTER 6 Increasing the robot operating speed 3- Arch motion: Making the arch position value larger In the arch motion 2, 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.
  • Page 207 CHAPTER 6 Increasing the robot operating speed (2) Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller user's manual ("Robot parameters" – "Axis tip weight" in Chapter 4) Programming manual (WEIGHT statement in "10. Command statements".) [Example] From P1 when chuck is open: WEIGHT 5 ..
  • Page 208 CHAPTER 6 Increasing the robot operating speed (3) Increasing the speed by the tolerance parameter [Also refer to:] Robot controller user's manual ("Axis parameters" – "Tolerance" in Chapter 4) Programming manual (TOLE statement in "10. Command statements".) [Example] From P1 to P3 via P2 TOLE (1) = 2048 ..X-axis tolerance (pulses) : Increases the tolerance.
  • Page 209 CHAPTER 6 Increasing the robot operating speed (4) Increasing the speed by the OUT effective position parameter [Also refer to:] Robot controller user's manual ("Axis parameters" – "Out effective Position" in Chapter 4) Programming manual (OUTPOS statement in "10. Command statements".) [Example] From P1 when chuck is open: OUTPOS (1) = 10000 ...
  • Page 211 CHAPTER Specifications 1 Manipulator ..................7-1 Basic specification ..................7-1 External view and dimensions ..............7-3 Robot inner wiring diagram ................ 7-11 Wiring table ....................7-13...
  • Page 213 CHAPTER 7 Specifications Manipulator Basic specification Robot model R6YXH250 R6YXH350 R6YXH400 Arm length 225mm 225mm 125mm X-axis Rotation angle ±115° ±115° ±115° Axis Arm length 125mm 175mm 125mm speci - Y-axis Rotation angle ±140° ±140° ±140° cations Z-axis Stroke 150mm 150mm 150mm R-axis...
  • Page 214 CHAPTER 7 Specifications R6YXX1200 Robot Model 600mm Arm length X-axis ±125° Rotation angle 600mm Axis Arm length Y -axis ±150° specifi- Rotation angle Z-axis 400mm cations Stroke R-axis ±180° Rotation angle 900W X-axis 800W Y -axis Motor 600W Z-axis 400W R-axis 7.4m/s XY resultant...
  • Page 215 CHAPTER 7 Specifications External view and dimensions Fig. 7-1 R6YXH250...
  • Page 216 CHAPTER 7 Specifications User tubing 1 (f4 black) User tubing 2 (f4 red) User tubing 3 (f4 blue)
  • Page 217 CHAPTER 7 Specifications Fig. 7-2 R6YXH350...
  • Page 218 CHAPTER 7 Specifications...
  • Page 219 CHAPTER 7 Specifications Fig. 7-3 R6YXH400...
  • Page 220 CHAPTER 7 Specifications Working envelope (1 : 5) X and Y-axis mechanical stopper positions (1 : 5)
  • Page 221 CHAPTER 7 Specifications Fig. 7-4 R6YXX1200...
  • Page 222 CHAPTER 7 Specifications 7-10...
  • Page 223 CHAPTER 7 Specifications Robot inner wiring diagram Fig. 7-5 R6YXH250, R6YXH350, R6YXH400 7-11...
  • Page 224 CHAPTER 7 Specifications Fig. 7-6 R6YXX1200 7-12...
  • Page 225 CHAPTER 7 Specifications Wiring table Robot cable wiring table 7-13...
  • Page 226 CHAPTER 7 Specifications 7-14...
  • Page 227 CHAPTER 7 Specifications Machine harness wiring table (R6YXH250, R6YXH350, R6YXH400) Y-axis arm side Base side Signal Connector Connection No Connector Color Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm White Twisted pair Orange 0.2mm Twisted pair White Green Shield Brown Z-axis Resolver 0.2mm...
  • Page 228 CHAPTER 7 Specifications Machine harness wiring table (R6YXX1200) Y-axis arm side Base side Signal Connector Connection No Connector Color Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Green Shield Brown Z-axis Resolver 0.2mm Twisted pair Black...
  • Page 229 CHAPTER 7 Specifications Motor wiring table Motor X, Y Motor Z, R 7-17...
  • Page 230 CHAPTER 7 Specifications Resolver wiring table Resolver X, Y Resolver Z, R 7-18...
  • Page 231 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I145E-EN-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous revision. Revision code Date Revised content...

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R6yxh250R6yxh350R6yxh400R6yxx1200

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