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Omron R6Y3 Series Installation Manual

Washdown delta robot
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Cat. No. I194E-EN-02
Washdown Delta Robot
ZX-T Series
R6Y3 Series
Delta Robot
INSTALLATION
MANUAL

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Summary of Contents for Omron R6Y3 Series

  • Page 1 Cat. No. I194E-EN-02 Washdown Delta Robot ZX-T Series R6Y3 Series Delta Robot INSTALLATION MANUAL...

  • Page 3: Table Of Contents

    CONTENTS R6Y3 Installation Manual Safety Instructions 1. Safety Information 2. Signal words used in this manual 3. Warning labels 3.1 Warning labels 3.1.1 Contents of warning label messages 3.1.2 Supplied warning label 3.2 Warning symbols 4. Major precautions for each stage of use 4.1 Precautions for using robots 4.2 Design 4.3 Moving and installation...
  • Page 4 CONTENTS R6Y3 Installation Manual Chapter 1 Functions 1. Robot manipulator 1.1 Manipulator movement 1.2 Part names Chapter 2 Installation 1. Robot installation conditions 1.1 Installation environments 1.2 Installation base 2. Installation 2.1 Unpacking 2.2 Checking the product 2.3 Moving the robot 2.3.1 Installing on base prepared by user 2.3.2...
  • Page 5 CONTENTS R6Y3 Installation Manual 9. Detaching or attaching the shafts, moveable base, and spring covers 2-36 9.1 Attaching the shafts, moveable base, and spring covers 2-36 9.1.1 R6Y30110S03067NJ5 (3-axes specification) 2-36 9.1.2 R6Y31110L03067NJ5, R6Y31110H03067NJ5 (4-axes specification) 2-38 9.2 Detaching the shafts, moveable base, and spring cover 2-41 10. Drop detection cable option 2-42 10.1 Configuration of drop detection cable option 2-42 10.2 Connecting the detection cable connector 2-43 10.3 Wiring the detection cable connector 2-46...

  • Page 7: Safety Instructions

    Safety Instructions Contents Safety Information Signal words used in this manual Warning labels Warning labels 3.1.1 Contents of warning label messages 3.1.2 Supplied warning label Warning symbols Major precautions for each stage of use Precautions for using robots Design Moving and installation Safety measures 4.4.1 Safety measures...

  • Page 9: Safety Information

    Safety Information Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To operate the robot in safer and correct manner, strictly observe the safety instructions and precautions stated in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the robot, and also may cause personal injury (to installation personnel, robot operator or service personnel) including fatal accidents. The safety instructions and precautions described in the “Safety Instructions” cover only the robot (mechanical sections). For details about operation of the controller and safety precautions associated with the controller operation, refer to the Controller Manual. Before using this product, read this manual and related manuals and take safety precautions to ensure correct handling. The precautions listed in this manual relate to this product. To ensure the safety of the user’s final system that includes robots, the user must take appropriate safety considerations.

  • Page 10: 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 11: Warning Labels

    Warning labels Warning labels are attached to the robot body. 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. • pRovIDE pRopER LIgHTINg So THAT THE SYMBoLS AND INSTRUCTIoNS oN THE WARNINg LABELS CAN BE CLEARLY SEEN FRoM oUTSIDE THE SAFETY ENCLoSURE. 3.1.1 Contents of warning label messages Word messages on the danger, warning and caution labels are concise and brief instructions. For more specific instructions, read and follow the "Instructions on this label" described on the right of each label shown below. Warning label 1 DANGER SERIoUS INJURY MAY RESULT FRoM CoNTACT WITH A MovINg RoBoT. • KEEp oUTSIDE oF THE RoBoT SAFETY ENCLoSURE DURINg opERATIoN. • pRESS THE EMERgENCY STop BUTToN BEFoRE ENTERINg THE SAFETY ENCLoSURE. Instructions on this label • Always install a safety enclosure to keep all persons away from the robot movement range and prevent injury from contacting the moving part of the robot.

  • Page 12: Supplied Warning Label

    CAUTION Attach the warning label that has been included in the robot at shipment to a legible location close to the robot, such as entrance of the safety enclosure. Warning symbols Warning symbols shown below are attached to the robot body 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. Instructions by this symbol This indicates a high voltage is present.

  • Page 13: Major Precautions For Each Stage Of Use

    This section describes major precautions that must be observed when using robots. Be sure to carefully read and comply with all of these precautions even if there is no alert symbol shown. Precautions for using robots general precautions for using robots are described below. Applications where robots cannot be used oMRoN robots are designed as general-purpose industrial equipment and cannot be used for the applications listed below. DANGER RoBoTS ARE DESIgNED AS gENERAL-pURpoSE INDUSTRIAL EqUIpMENT AND CANNoT BE USED FoR THE FoLLoWINg AppLICATIoNS. • IN MEDICAL EqUIpMENT SYSTEMS WHICH ARE CRITICAL To HUMAN LIFE • IN SYSTEMS THAT SIgNIFICANTLY AFFECT SoCIETY AND THE gENERAL pUBLIC...

  • Page 14: 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 KEEp YoUR HAND AWAY FRoM THE RoBoT INSTALLATIoN SURFACE DURINg MovINg. oTHERWISE, YoUR HAND...
  • Page 15 Installation ■ Protect electrical wiring and hydraulic/pneumatic hoses Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage. Cautions on arm In the installation work or in case of an emergency, do not hold the arm by your hand. It may cause malfunction. Adjustment ■ 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.

  • Page 16: 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 UNDERSTAND THESE "WoRK INSTRUCTIoNS". Decide on "work instructions" for the following items in cases where personnel must work within the robot safety enclosure to perform teaching, maintenance or inspection tasks. Make sure the workers completely understand these "work instructions".

  • Page 17: Installing A Safety Enclosure

    WARNING • DURINg STARTUp oR MAINTENANCE TASKS, DISpLAY A SIgN STATINg "WoRK IN pRogRESS " oN THE opERATIoN pANEL oR LoCK THE CovER oF THE opERATIoN pANEL IN oRDER To pREvENT ANYoNE oTHER THAN THE pERSoN FoR THAT TASK FRoM MISTAKENLY opERATINg THE START oR SELECToR SWITCH. • ALWAYS CoNNECT THE RoBoT AND RoBoT CoNTRoLLER IN THE CoRRECT CoMBINATIoN. USINg THEM IN AN INCoRRECT CoMBINATIoN MAY CAUSE FIRE oR BREAKDoWN. Install brake release circuit The DELTA robot is equipped with a brake release switch for the manual teaching or maintenance inspection. To use this brake release switch, it is also necessary to install a brake release circuit on the user side. For details, see “4.2 Wiring the brake release cable connector” in Chapter 2 of the Installation Manual. WARNING WHEN pERFoRMINg THE TEACHINg oR MAINTENANCE INSpECTIoN MANUALLY, INSTALL THE BRAKE RELEASE CIRCUIT To ENSURE THE SAFETY. 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 18: Operation

    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 RoBoT AND pERIpHERAL EqUIpMENT ARE IN gooD CoNDITIoN. 4.5.1 Trial operation After installing, adjusting, inspecting, maintaining, or repairing the robot, check the trial operation items stated in the controller manual and perform the trial operation while strictly observing the instructions. 4.5.2 Automatic operation To perform the automatic operation, follow the instructions stated in the controller manual. 4.5.3 Precautions during operation When the robot is damaged or an abnormal condition occurs WARNING • IF UNUSUAL oDoRS, NoISE oR SMoKE oCCUR DURINg opERATIoN, IMMEDIATELY TURN oFF poWER To pREvENT poSSIBLE ELECTRICAL SHoCK, FIRE oR BREAKDoWN. STop USINg THE RoBoT AND CoNTACT YoUR...

  • Page 19: Inspection And Maintenance

    If the α-axis, β-axis, γ-axis or θ-axis rotation angle is small CAUTION If the α-axis, β-axis, γ-axis or θ-axis rotation angle is set smaller than 5 degrees, then it will always move within the same position, making it difficult for a proper oil film to form on the speed reduction gear, possibly shortening its service life. To prevent this, add a range of motion so that each axis moves through a range of 120 degrees or more about 5 times a day. 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. Keep a record of periodic inspections or repairs and store this record for at least 3 years. 4.6.1 Before inspection and maintenance work Do not attempt any work or operation unless described in this manual.

  • Page 20: Precautions During Service Work

    4.6.2 Precautions during service work Precautions when removing a motor WARNING THE α-AxIS, β-AxIS oR γ-AxIS WILL SLIDE DoWNWARD WHEN THE MoToR IS REMovED, CAUSINg A HAzARDoUS SITUATIoN . • TURN oFF THE CoNTRoLLER AND pLACE A SUppoRT UNDER THE α-AxIS, β-AxIS oR γ-AxIS BEFoRE REMovINg THE MoToR. • BE CAREFUL NoT To LET YoUR BoDY gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE. 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 packing boxes and materials When disposing of packing boxes and materials, use the correct disposal method in compliance with your local regulations. We do not collect and dispose of the used packing boxes and materials. S-12...

  • Page 21: Emergency Action When A Person Is Caught By Robot

    Emergency action when a person is caught by robot If a person is caught in between the robot and mechanical section, such as installation base, use the brake release switch on the robot main unit to release the axis. Brake release switch Brake release switch As the robot is put in the emergency stop state, the robot drive power is shut down. However, the axis cannot be moved since the brake is activated. So, release the brake, and then push the axis by hand to move it. WARNING THE α-AxIS, β-AxIS oR γ-AxIS WILL SLIDE DoWNWARD WHEN THE BRAKE IS RELEASED, CAUSINg A HAzARDoUS SITUATIoN. • BEFoRE RELEASINg THE BRAKE, BE SURE To pLACE A SUppoRT UNDER THE α-AxIS, β-AxIS oR γ-AxIS So THAT IT WILL NoT SLIDE DoWN. • WHEN RELEASINg THE BRAKE, BE CAREFUL NoT To LET YoUR BoDY gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE. CAUTION Release the brake axis-by-axis. NOTE For details about the brake release cable connector, see “4.2 Wiring the brake release cable connector” in Chapter 2 of the Installation Manual. S-13...

  • Page 22: Using The Robot Safely

    THE α-AxIS, β-AxIS oR γ-AxIS WILL SLIDE DoWNWARD WHEN THE BRAKE IS RELEASED, CAUSINg A HAzARDoUS SITUATIoN .TAKE ADEqUATE SAFETY MEASURES BY TAKINg THE WEIgHT AND SHApE INTo ACCoUNT. • BEFoRE RELEASINg THE BRAKE AFTER pRESSINg THE EMERgENCY STop BUTToN, pLACE A SUppoRT UNDER THE α-AxIS, β-AxIS oR γ-AxIS So THAT IT WILL NoT SLIDE DoWN. • WHEN pERFoRMINg TASKS (DIRECT TEACHINg, ETC.) WITH THE BRAKE RELEASED, BE CAREFUL NoT To LET YoUR BoDY gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE. Residual risk To ensure safe and correct use of oMRoN robots, System integrators and/or end users implement the machinery safety design that conforms to ISo12100 or JIS9700-1/2. Residual risks for oMRoN robots are described in the DANgER or WARNINg instructions provided in each chapter and section. So, read them carefully. Special training for industrial robot operation operators or persons who handle the robot for tasks such as for teaching, programming, movement checks, inspections, adjustments, and repairs must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must also read the manual carefully to understand its contents before attempting the robot operation or maintenance.
  • Page 23 Comparison of terms used in this manual with ISO This manual ISO 10218-1 Note Maximum movement range maximum space Area limited by mechanical stoppers. Movement range restricted space Area limited by movable mechanical stoppers. Working envelope operational space Area limited by software limits. Within safety enclosure safeguarded space S-15...

  • Page 25: Warranty

    LOSS OF PROFITS OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER 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 27: Introduction

    Introduction Contents Before using the robot (Be sure to read the following notes.) Introduction...
  • Page 29 Before using the robot (Be sure to read the following notes.) Thank you for your purchase of this oMRoN Delta robot. Before using the robot, first perform the following checks and procedures. If the following procedures are performed, it will not be possible to set the robot origin position to the same position as the default factory setting. Consequently, it will be necessary to adjust the origin position and the robot may operate abnormally (vibration, noise) or malfunction. Sufficient caution is therefore advised. • Arm removal (arm position change) The Delta robot origin position is adjusted at the factory beforehand using the jig (calibration tool) provided. Perform the following procedure if the arm position is changed for such reasons as bending the arm when installing the robot in order to pass through the factory.
  • Page 30 Introduction The oMRoN R6Y3 industrial robot is a high-speed, multi-joint (parallel link) industrial robot. The R6Y3 parallel link mechanism features an α-axis, β-axis and γ-axis motor arranged at 120° intervals on a base, and realizes robot movement in the x, Y and z directions by rotating each axis up and down at the point (TCp: tool center point) where each arm intersects in parallel. By adding a θ-axis to the tip, the tool can also be rotated ±180 degrees in addition to the above mentioned movements. The R6Y3 industrial robot is ideal for specialized, high-speed work such as part transport or box packing. This user's manual describes safety measures, handling, adjustment, inspection and maintenance of the R6Y3 robot to ensure correct, safe and effective use. Be sure to read this manual carefully before installing the robot. Even after reading this manual, keep it in a safe and convenient place for future reference. This user's manual should be used with the robot and considered an integral part of it. When the robot is moved, transferred or sold, send this manual to the new user along with the robot. Be sure to explain to the new user the need to read through this manual. For details regarding robot operation, refer to the controller user’s manual.
  • Page 31 Chapter 1 Functions Contents Robot manipulator Manipulator movement Part names...

  • Page 33: Robot Manipulator

    Robot manipulator Manipulator movement The R6Y3 robot consists of an α-axis, β-axis and γ-axis (arm, shaft), and a θ-axis (moveable base). With these 4 axes, the R6Y3 robot can move as shown in the Fig. below. By attaching different types of end effector (gripper) to the end, a wide range of tasks can be performed with high precision at high speeds. Manipulator movement α-axis θ-axis β-axis γ-axis θ-axis Robot movement range...

  • Page 34: Part Names

    Part names R6Y3 Eyebolt Base Boot Shaft θ-axis motor cover Moveable base Spring cover Plastic bearing Tool flange Plate Moveable base Link ball Plastic bearing α-axis β-axis Warning label 3 Boot Brake release switch Warning label 2 Warning label 1 γ-axis Link ball Tool flange...

  • Page 35: Chapter 2 Installation

    Chapter 2 Installation Contents Robot installation conditions Installation environments Installation base Installation Unpacking Checking the product Moving the robot 2.3.1 Installing on base prepared by user 2.3.2 Moving the robot to another installation base or removing the robot Installing the robot Protective bonding 2-11 Connection...
  • Page 36 10. Drop detection cable option 2-42 1 0.1 Configuration of drop detection cable option 2-42 10.2 Connecting the detection cable connector 2-43 10.3 Wiring the detection cable connector 2-46 10.4 Detection wiring and θ-axis specifications (R6Y31110L03067NJ5, R6Y31110H03067NJ5) 2-47 10.4.1 α-axis harness wiring 2-47 10.4.2 α-axis shaft wiring 2-48...

  • Page 37: Robot Installation Conditions

    Robot installation conditions Installation environments Be sure to install the robot in the following environments. Setting environments Specifications Allowable ambient temperature 0 to 45°C Allowable ambient humidity 35 to 85% RH (non condensation) Altitude 0 to 1000 meters above sea level Ambient environments Avoid installing near cutting water, oil, dust, metallic chips, or organic solvents. Avoid installation near corrosive gas and corrosive materials. Avoid installation in atmosphere containing inflammable gas, dust or liquid.

  • Page 38: Installation Base

    Installation base • prepare a sufficiently rigid installation base. Using an insufficiently rigid base will result in vibrations and poor positioning. • The arm movement area for each axis includes space above the robot base, and therefore the robot must not be installed on the ceiling, etc. The robot may malfunction if arms crash. Reference example of installation base Installation portion...
  • Page 39 Installation base attachment surface instruction Parallelism: 0.5 Movement range (350) ( 1200): arm rotation range Cable interference range 1800 tool movement range Tool movement area Arm rotation range (tool movement area) (Arm rotation range) Tool movement area (Tool movement area) ( 580) ( 1100)
  • Page 40 Reference example of installation base Iron square pipe ( 100+ 50, t=3.23.2) welded structure 1450 6- 15 through-hole 153 153 188 188 Detailed drawing B CAUTION • Iron (SS400 or its equivalent) Square pipe welding structure □100: t3.2mm, □50: t3.2mm • Keep a motor cover maintenance space of 1300. ø • Secure to the floor surface with the anchor bolts.

  • Page 41: Installation

    Installation Unpacking WARNING THE RoBoT AND ITS ACCESSoRIES ARE ExTREMELY 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 folklift 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 R6Y3 robot comes packed with arms, shafts, a moveable base, and accessories. Using a carrying cart (dolly) or forklift, move the package near the installation base. Take sufficient care not to apply shocks to the equipment when unpacking it. Packed state Checking the product After unpacking, check the product configuration and conditions. CAUTION If there is any damage due to transportation or insufficient parts, please notify your distributor immediately. Name Q'ty Remarks Shafts 3 (α, β, γ-axes) Spring covers Moveable base Calibration tool (α, β, γ-axes) α, β, γ-axes home position adjustment jig, with bolts and washers...

  • Page 42: Moving The Robot

    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. • CHECK THAT THERE ARE No CRACKS oR CoRRoSIoN oN THE EYEBoLTS oR EYEBoLT INSTALLATIoN AREA. IF FoUND, Do NoT USE EYEBoLTS To MovE THE RoBoT. • SCREW THE EYEBoLTS FIRMLY UNTIL THE BEARINg SURFACE oF THE EYEBoLT MAKES TIgHT CoNTACT WITH THE BEARINg SURFACE oN THE BASE. EYEBoLTS ARE ALREADY FITTED WHEN THE RoBoT IS SHIppED. • 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. • AvoID DANgERoUS BEHAvIoR LIKELY To UpSET THE BALANCE WHEN TRANSpoRTINg THE RoBoT. • REMovE THE SHAFTS, MovEABLE BASE, AND LoAD FRoM THE END oF THE RoBoT ARM. FAILURE To REMovE THESE LoADS MAY RESULT IN RoBoT MALFUNCTIoN. • Do NoT AppLY FoRCE To THE RoBoT BoDY. WHEN UNpACKINg THE RoBoT, pLEASE pAY ATTENTIoN To THE FoLLoWINg ADDITIoNAL poINT. • THE ARMS ARE ADJUSTED To THEIR RESpECTIvE oRIgIN poSITIoNS pRIoR To SHIppINg AND THEREFoRE SHoULD NoT BE ToUCHED. 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. Refer to "1.1 Basic specifications" in Chapter 5 for details on the robot weight. 2.3.1 Installing on base prepared by user NOTE...

  • Page 43: Moving The Robot To Another Installation Base Or Removing The Robot

    Move the robot. Move the robot carefully to the installation base, using care to keep the robot balanced, and avoid subjecting it to vibrations and shocks. The rope angle at this time should be kept at 60° or more. CAUTION When moving the robot, do not hold the robot arm or robot cover. It may cause deviation of the origin position that has been adjusted and damage to the robot arm or robot cover. Robot transportation 60° or more Do not hold arm and cover Temporarily secure the robot to the base by tightening the bolts. Move the robot to the base prepared by the user and temporarily secure three points near each axis on the robot base with the bolts.
  • Page 44 Remove the duct and connector cover Step 3 Duct, connector cover removal (cap, boot). Disconnect the robot cable. CAUTION After disconnecting the brake release cable connector, store the cover cable inside the cover. Remove the motor cover. Duct Refer to "8. Detaching or attaching the covers" in this chapter before removing the cover.

  • Page 45: Installing The Robot

    Installing the robot CAUTION Installation space • A space of 200mm avobe the base is included in the movement range of the α, β and γ axes Ensure that the installation base prepared by the user does not interfere with the arm movement range. • Ensure a flatness of 0.5 on the surface of the installation base prepared by the user. Outline drawing Cable interference range (350) 1100: Movement area 1200: arm rotation range Arm rotation range Tool movement area 1100...
  • Page 46 Install the robot securely with the six hex socket head bolts 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 WITH THE CoRRECT ToRqUE. IF THE BoLTS ARE NoT TIgHTENED CoRRECTLY, THE RoBoT MIgHT DRop oR FALL ovER. If using M12 tapping holes on robot base If using ø16 through holes on robot base Bolts Used Tightening torque 128Nm (1310 kgfcm) 205Nm (2090 kgfcm) Depth of tapped holes in installation base: Iron installation base : Bolt diameter × 1.5 or more Aluminum installation base Bolt diameter × 3.0 or more Recommended bolt : JIS B 1176 hex socket head bolt, or equivalent Strength class JIS B 1051 12.9, or equivalent Attachment area details M4 earth terminal Suspension eyebolt ( 50) position Attention should be paid to installation range.

  • Page 47: Protective Bonding

    Protective bonding WARNING • ALWAYS gRoUND THE RoBoT To pREvENT ELECTRIC SHoCK. • TURN oFF THE CoNTRoLLER BEFoRE gRoUNDINg THE RoBoT. Provide a terminal marked "PE" for the protective conductor of the entire system and connect it to an external protective conductor. In addition, securely connect the ground terminal on the robot pedestal to the same protective conductor. (See the Fig. below.) (Symbol 417-IEC-5019） Example of grounding Ground symbol M4 Ground terminal Calibration tool attachment hole There are two M4 earth terminals located near the attachment hole (M12) for the calibration tool used to adjust the robot base origin position. Use one terminal for the external protective conductor, and the other terminal for the θ-axis...

  • Page 48: Connection

    Connection Robot cable connection The robot cable is not connected to the R6Y3 robot. Refer to the controller user's manual for details on the operation check after connection. WARNING • THE SHApE oF THE MoToR CoNNECToRS AND ENCoDER CoNNECToRS IS THE SAME FoR THE α-AxIS, β-AxIS AND γ-AxIS ExERCISE CAUTIoN WHEN CoNNECTINg. THE RoBoT MAY MALFUNCTIoN IF INCoRRECTLY CoNNECTED. • THE RoBoT MAY MALFUNCTIoN IF pIN CoNTACT DEFECTS oCCUR BECAUSE THE CoNNECToRS ARE NoT CoNNECTED pRopERLY. ENSURE THAT ALL CoNNECToRS ARE SECURELY CoNNECTED BEFoRE TURNINg oN THE CoNTRoLLER poWER. Wiring the brake release cable connector The brake release cable connector is provided as an accessory with R6Y3 robot. Refer to the Fig. below when connecting the robot and brake release cable connector. Furthermore, users are required to prepare the wire leading from the brake release cable connector.

  • Page 49: Θ-Axis Connection Wiring Specifications (R6Y31110L03067Nj5, R6Y31110H03067Nj5)

    θ-axis connection wiring specifications (R6Y31110L03067NJ5, R6Y31110H03067NJ5) θ-axis connection wiring specifications for the R6Y31110L03067NJ5 and R6Y31110H03067NJ5 are shown below. CAUTION Take care not to wire cables incorrectly. The robot will malfunction if used when incorrectly wired. Harness wiring α-axis Driver side • Encoder cable wiring, left side is driver side (1)JN1HS10PL2(JAE) , (2)LF10WBR-12S(HIROSE) Signal Color Connection...
  • Page 50 Shaft cable wiring β-axis side α-axis γ-axis side Arm side Motor side • Encoder cable wiring, right side is motor side (1)LF10WBP-12P(HIROSE) , (2)HR34B-12WLPD-10S (HIROSE) Signal Color Connection Remarks Blue White BAT+ Yellow BAT- Brown green Black Shield • Motor cable wiring, right side is motor side (3)LF10WBP-4P(HIROSE) , (4)HR34B-4WLPD-4S (HIROSE) Signal Color...

  • Page 51: User Tubing

    User tubing WARNING • THE RoBoT MAY MALFUNCTIoN DURINg pIpINg WoRK, AND THEREFoRE THE AIR SUppLY MUST ALWAYS BE TURNED oFF BEFoREHAND. • Do NoT RUN pIpES ALoNg THE SHAFT oR ARM AT THE USER SIDE. DoINg So MAY CAUSE pRoBLEMS WITH opERATIoNS SUCH AS pICKUp. The R6Y3 robot is equipped with an air tube attachment port for use by the user on the moveable base side of the robot. The following air tubes may be used. ø User tubing: 6 × 1 Air tube specifications are shown below. Always observe these specifications. User tubing Maximum pressure 0.6Mpa (6.1 Kgf/cm Outer diameter × inner diameter ø6mm × ø4mm Dry clean air not containing deteriorated compressor oil;...

  • Page 52: Attaching The End Effector

    Attaching the end effector θ-axis tolerable moment of inertia and acceleration 6.1.1 θ-axis moment of inertia of load and acceleration coefficient The moment of inertia of a load (end effector and workpiece) that can be attached to the end effector attachment area is limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the acceleration in accordance with the moment of inertia.

  • Page 53: Equation For Moment Of Inertia Calculation

    Equation for moment of inertia calculation Usually the θ 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. The objects and equations often used for the calculation of the moment of inertia are shown below. Incidentally, there is the following relation: J (kgfcmsec ) = I (kgm...
  • Page 54 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 55 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 + rabcx + mx (kgm rabc(a rabcx (kgfcmsec ... (7) m : Mass of prism (kg) W : Weight of prism (kgf) 2-19...

  • Page 56: 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 θ-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 10cm from the θ-axis by the stay.) θ-axis Stay Chuck Workpiece 1. Moment of inertia of the stay Moment of inertia of the stay The weight of the stay (Ws) is given as follows: Center line...
  • Page 57 2. Moment of inertia of the chuck Moment of inertia of the chuck When the chuck form resembles θ-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 58: Attaching The End Effector

    Attaching the end effector It is necessary to prepare the user's end effector attaching part to the robot that has adequate strength and rigidity, as well as gripping force to prevent positioning errors. WARNING • BEFoRE ATTACHINg THE END EFFECToR, BE SURE To TURN oFF THE CoNTRoLLER. • WHEN THE END EFFECToR IS ATTACHED USINg THE SLoT CLAMpINg, ALWAYS oBSERvE THE CoNDITIoNS LISTED IN THE TABLE, "MAxIMUM LoAD AppLIED To END EFFECToR ATTACHMENT". IF THESE ARE IgNoRED, THE END EFFECToR MAY CoME LooSE AND FLY oFF DURINg RoBoT opERATIoN, RESULTINg IN AN ACCIDENT oR INJURY. NOTE Refer to the controller user's manual for details on the end effector operation check. The recommended end effector attachment method is shown below. End effector attachment If attached to tool flange M5 hole M5 hole...

  • Page 59: Working Envelope And Maximum Movement Range

    Working envelope and maximum movement range The robot's working envelope and maximum movement range are shown below. For α, β and γ-axes ■ WARNING IN oRDER To pREvENT INTERFERENCE WITH oTHER USER EqUIpMENT, BE SURE To pRovIDE ADEqUATE SpACE To ACCoMMoDATE THE RoBoT'S MAxIMUM MovEMENT RANgE (INCLUDINg THE ARM'S MAxIMUM MovEMENT RANgE). Note that the robot's TCp (tool center point) movement range is larger than the actual working envelope. Be sure to specify the robot working envelope at the controller side. Movement range (350) ( 1200): arm rotation range Cable interference range 1800 tool movement range Tool movement area Arm rotation range (tool movement area) (Arm rotation range)

  • Page 60: Detaching Or Attaching The Covers

    Detaching or attaching the covers Detaching or attaching the α, β and γ-axes covers WARNING • IF THE CovERS ARE REMovED FoR MAINTENANCE WoRK, BE SURE To RETURN THEM To THEIR oRIgINAL poSITIoNS USINg THE SCREWS AND BoLTS USED To SECURED THEM. • IF ANY oF THE SCREWS oR BoLTS BECoME LoST, USE THE SpECIFIED SCREWS/BoLTS AND qUANTITIES To SECURE THE CovERS WHILE REFERRINg To THE FIg. BELoW. • IF THE CovERS ARE NoT SECURED FIRMLY, NoISE MAY oCCUR, THE CovERS MAY DRop AND FLY oUT, HANDS MAY BECoME ENTANgLED IN THE DRIvE UNIT DURINg TEACHINg, oR CoME INTo CoNTACT WITH THE HoT DRIvE UNIT, CAUSINg BURNS. oBSERvE THESE CAUTIoNS STRICTLY To pREvENT SUCH TRoUBLE. CAUTION The α, β and γ-axes motor cover construction does not comply with Ip67, and therefore the inside of the cover should be cleaned periodically. The motor and speed reduction gear inside the cover do comply with IP67. R6Y3 α-axis θ-axis...

  • Page 61: Α, Β, Γ-Axis Cover Removal Procedure

    8.1.1 α, β, γ-axis cover removal procedure WARNING WHEN HANDLINg MoToRS, TAKE CARE To AvoID ELECTRIC SHoCK oR BURNS oWINg To THE HEAT gENERATED BY THE MoToRS. Remove the duct, boot, and cap. Step 1 Duct, boot, and cap removal NOTE The boot and cap are merely inserted when the robot is shipped. Disconnect the robot cable connector. Duct Boot Cap removal...
  • Page 62 Remove the M5 hex bolt from the top Bolt removal Step 3 of the motor cover. Remove the cover a little. grasp the rear of the cover and pull it out while shaking it up and down to remove the cover a little. About 10mm of the rubber will come out (within 5mm when attached). M5 hex bolt NOTE The inside of the cover will catch and so will not come off completely.
  • Page 63 Pull the cover out further. Temporarily removed cover Step 5 Make a gap between the cover and base by pulling the cover out further. NOTE The cover will catch at this point and so will not come off completely. Cover bottom temporarily removed Cover top temporarily removed 2-27...
  • Page 64 Pull out the cover. Step 6 Pull out the cover. grasp the sides of the cover and push both sides so that the bottom deforms a little to pull out the cover. The clips on the inside near the switch will come free, making it easier to pull out the cover without it catching. The motor connector will catch on the hole on the side of the cover, and so the cover should be shifted to avoid the connector.
  • Page 65 Clip structure ■ The cover clips will catch on the step on the bracket below the reduction gear. There are two steps, and the clips catch on the second step. Clip construction Reduction gear Bracket Clip construction on inside Clips Inside of removed cover Connection cable Brake release switch 2-29...

  • Page 66: Α, Β And Γ-Axis Cover Attachment Procedure

    8.1.2 α, β and γ-axis cover attachment procedure Attach the cover using the opposite of the procedure used for removal. WARNING THE SAME TYpE oF MoToR WIRE AND ENCoDER WIRE IS USED FoR THE α-AxIS, β-AxIS AND γ-AxIS CoNNECT THE CABLES So THAT THEY MATCH THE RESpECTIvE AxES AT THE CoNTRoLLER (DRIvER). THE RoBoT WILL NoT opERATE CoRRECTLY, RESULTINg IN poSSIBLE DANgER IF THE CABLES ARE CoNNECTED INCoRRECTLY. Step 1 Insert the motor wire. Insert the motor wire from smaller hole on the boot with small hole. The motor cable connector should still be inserted Boot first even if using L-shaped connectors.
  • Page 67 Route the encoder wire. Step 5 Encoder wire routing Insert the encoder wire only through the hole for the motor connector, and pull it out from the adjacent cap hole. Encoder wire Encoder wire Pull out from cap hole side 2-31...
  • Page 68 Temporarily insert the motor cover. Step 6 Temporary motor cover insertion Insert the motor cover so that the internal switch does not interfere with the motor connector. Motor cover Pull the brake release wire and encoder wire out from the gap next to the motor connector. Motor Internal switch Pull out from gap.
  • Page 69 Insert the cover so that the rubber on Step 7 the bottom fits in. There will be a gap when the cover catches on the first clip. Insert the cover so that the rubber on the top fits in. CAUTION Insert the rubber a little at a time, and avoid trying to force it in. If forced in, the rubber will end up deformed, making it difficult to attach the motor cover.
  • Page 70 Adjust the motor cover position and Step 10 Motor cover attachment then secure with the M5 hex bolt(s). Adjust the motor cover position and then screw in two M5 hex bolts to secure. Ensure that the motor cover has been securely attached. It will not be possible to insert the bolts if the motor cover position and tapping positions for the M5 hex bolts are not aligned.
  • Page 71 Attach the bracket to the robot cable. Step 14 Bracket attachment Insert the bracket in the boot. Insert the boot in the duct. Bracket Boot Step 15 Bracket insertion Step 16 Boot insertion 2-35...

  • Page 72: Detaching Or Attaching The Shafts, Moveable Base, And Spring Covers

    Detaching or attaching the shafts, moveable base, and spring covers Attaching the shafts, moveable base, and spring covers CAUTION It is necessary to enter the safety enclosure in order to detach or attach the shafts, moveable base, or spring covers, and therefore the controller power must be turned off beforehand. 9.1.1 R6Y30110S03067NJ5 (3-axes specification) The replacement procedure for the shafts, moveable base, and spring covers is the same as that for the α, β and γ-axes. Step 3 Shaft attachment Post a sign indicating that the robot is being adjusted.
  • Page 73 Attach the spring covers. Step 4 Spring cover attachment There are a total of six spring covers: one at the arm, and one at the moveable base for each of the three axes. The top and bottom positions of the spring covers are fixed. If the shaft direction is correct at Step 3, the cover attached at the top will be wide as shown in the Fig. Spring cover attachment location The spring covers come as a top and bottom set when shipped.

  • Page 74: R6Y31110L03067Nj5, R6Y31110H03067Nj5 (4-Axes Specification)

    9.1.2 R6Y31110L03067NJ5, R6Y31110H03067NJ5 (4-axes specification) With the R6Y31110L03067NJ5 and R6Y31110H03067NJ5 (4-axes specification) robots, the cable protrudes from the α-axis shaft. Shaft, moveable base, and spring cover attachment is the same as that for the 3-axes specification robot. Post a sign indicating that the robot Step 3 Shaft attachment is being adjusted. Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power.
  • Page 75 Attach the spring covers. Step 4 Spring cover attachment There are a total of six spring covers: one at the arm, and one at the moveable base for each of the three axes. The top and bottom positions of the spring covers are fixed. If the shaft direction is correct at Step 3, the cover attached at the top will be wide as shown in the Fig. Spring cover attachment location below.
  • Page 76 Connect the harness on the arm side. Step 5 Connecting the harness on the arm side The connector type of the motor cable is different from that of the encoder cable. Connect the cables so that they are not twisted forcibly. Turn the connector clockwise to lock it after inserted.

  • Page 77: Detaching The Shafts, Moveable Base, And Spring Cover

    Detaching the shafts, moveable base, and spring cover The detachment procedure is the opposite of that for attachment. CAUTION It is necessary to enter the safety enclosure in order to detach or attach the shafts, moveable base, or spring covers, and therefore the controller power must be turned off beforehand. Post a sign indicating that the robot Step 3 Spring cover removal is being adjusted. Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power.

  • Page 78: 10. Drop Detection Cable Option

    10. Drop detection cable option 10.1 Configuration of drop detection cable option The detection cable of each arm is connected to the connector on the movable base side. The contacts are short- circuited inside the connector. As the connector comes off, the contacts are opened. Be sure to construct a circuit that detects the arm drop as the short-circuited contacts are opened, and then make appropriate settings so that the emergency stop or stop operation is activated when the arm drop is detected. Even when the connector of the relay part comes off, the contacts are opened. So, make sure that each connection part is connected and fastened securely.

  • Page 79: Connecting The Detection Cable Connector

    10.2 Connecting the detection cable connector For details about how to connect the θ-axis cable, refer to "9.1.2 R6Y31110L03067NJ5, R6Y31110H03067NJ5 (4-axes specification)" in this Chapter. How to attach the shaft, movable base, and spring cover is the same as the standard specifications. NOTE The movable base detection cable connectors (3 locations) can be connected to any matching connectors. As the length from the shaft is already determined, connect the connectors while referring to "10.1 Configuration of drop detection cable option" in this Chapter. Step 3 Shaft attachment Post a sign indicating that the robot is being adjusted. Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller Depression power.
  • Page 80 Attach the spring covers. Spring cover attachment Step 4 There are a total of six spring covers: one at the arm, and one at the moveable base for each of the three axes. The top and bottom positions of the spring covers are fixed. If the shaft direction is correct at Step 3, the cover attached at the top will be wide as shown in the Fig. Spring cover attachment location below.
  • Page 81 Connect the harness on the arm side. Step 5 Connecting the harness on the arm side The detection cable connector is located on the left of each arm. Connect the cables so that they are not twisted forcibly. Turn the connector clockwise to lock it after inserted. CAUTION Detection cable When performing the operation without locking the...

  • Page 82: Wiring The Detection Cable Connector

    10.3 Wiring the detection cable connector Make the connections while referring to "4.2 Wiring the brake release cable connector" in this Chapter. The user must make the wiring from the detection cable connector. The wiring is short-circuited by the movable base connector. So, manufacture a circuit that can detect the contact as the movable base connector is opened.

  • Page 83: Detection Wiring And Θ-Axis Specifications (R6Y31110L03067Nj5, R6Y31110H03067Nj5)

    10.4 Detection wiring and θ-axis specifications (R6Y31110L03067NJ5, R6Y31110H03067NJ5) The detection wiring and θ-axis wiring specifications of the R6Y31110L03067NJ5 and R6Y31110H03067NJ5 are shown below. CAUTION Take care not to wire cables incorrectly. The robot will malfunction if used when incorrectly wired. 10.4.1 α-axis harness wiring α-axis harness wiring α-axis Driver side • Encoder cable wiring, left side is driver side (1)JN1HS10PL2(JAE) , (2)LF10WBR-12S(HIROSE) Signal Color...

  • Page 84: 10.4.2 Α-Axis Shaft Wiring

    10.4.2 α-axis shaft wiring α-axis shaft wiring β-axis side α-axis γ-axis side Arm side Motor side • Encoder cable wiring, right side is motor side (1)LF10WBP-12P(HIROSE) , (2)HR34B-12WLPD-10S (HIROSE) Signal Color Connection Remarks Blue White BAT+ Yellow BAT- Brown green Black Shield •...

  • Page 85: 10.4.3 Β-Axis Harness Wiring

    10.4.3 β-axis harness wiring β-axis harness wiring β-axis Driver side • Detection cable wiring, left side is driver side (1)HR30-6J-6P(HIROSE) , (2)LF10WBR-12S(HIROSE) Signal Color Connection Remarks Blue White 10.4.4 β-axis shaft wiring β-axis shaft wiring γ-axis side β-axis α-axis side Arm side Motor side •...

  • Page 86: 10.4.5 Γ-Axis Harness Wiring

    10.4.5 γ-axis harness wiring γ-axis harness wiring γ-axis Driver side • Motor cable wiring, left side is driver side (1)NMS3101B-20-4-P(JAE) , (2)LF10WBR-4S(HIROSE) Signal Color Connection Remarks White Black Yellow/ green Round terminal • Detection cable wiring, left side is driver side (3)HR30-6J-6P(HIROSE) , (4)LF10WBR-12S(HIROSE) Signal Color...

  • Page 87: 10.4.6 Γ-Axis Shaft Wiring

    10.4.6 γ-axis shaft wiring γ-axis shaft wiring α-axis side γ-axis β-axis side Arm side Motor side • Motor cable wiring, right side is motor side (1)LF10WBP-4P(HIROSE) , (2)HR34B-4WLPD-4S (HIROSE) Signal Color Connection Remarks White Black Yellow/ green •Detection cable wiring, right side is motor side (3)LF10WBP-12P(HIROSE) , (4)MJ077N (MARUSHIN) Signal Color...
  • Page 89 Chapter 3 Robot settings Contents Overview Kinematics Adjusting the origin Adjusting the α, β and γ-axis origin position Adjusting the θ-axis origin position (4-axes specification only) Setting the soft limits Setting the α, β and γ-axis soft limits Setting the θ-axis soft limits 3-10...

  • Page 91: Overview

    Overview R6Y3 robot origin position setting is performed at the oMRoN factory. Specify the controller settings while referring to the controller user's manual. 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. • place a conspicuous sign indicating the robot is being adjusted, to prevent others from touching the controller switch or operation panel. • If a safety enclosure has not yet been provided right after installation of the robot, rope off or chain off the movement range around the manipulator in place of a safety enclosure, and observe the following points. 1. Use stable posts which will not fall over easily.
  • Page 92 Workspace parameters -599 mm Distance from the Z-axis origin position Rcy: 550 mm Radius of the cylinder Hcy: 300 mm Height of the cylinder Rco: 290 mm Radius of the frustum cone of underside Hco: 150 mm Height of the frustum cone...

  • Page 93: Adjusting The Origin

    Adjusting the origin The R6Y3 uses a calibration tool to mechanically adjust the origin position of the α, β, γ and θ-axes. Be sure to adjust the origin position in the following cases. If the origin position is lost after disconnecting the robot cable connecting the controller with robot 2. If the origin position is lost after disconnecting the θ-axis cables from the θ-axis motor cover connectors and controller side robot cable connector. 3. If the motor is replaced (same reason as above) 4. If any of the axis arms are removed CAUTION • If any of the above situations occur after purchasing the robot, it is necessary to adjust the origin position(s) using the calibration tool. (The robot origin positions are adjusted at the factory.) • Always use the calibration tool to perform origin position adjustment. If adjusted without using the calibration tool, the position will shift, resulting in abnormal robot operation, leading to robot damage and possible bodily injury. This manual describes the origin position adjustment method using the calibration tool.

  • Page 94: Adjusting The Α, Β And Γ-Axis Origin Position

    Adjusting the α, β and γ-axis origin position The α, β and γ-axis origin positions are shown in the Fig. below. Adjust each axis to its respective origin positions using the calibration jig. α, β, γ-axis origin positions Do not attach tubing to θ-axis cable. Detailed drawing of installation surface Eyebolts (3 locations) (1067) 4-M5×0.8 depth 8 Rc1/8 20 depth 3 Joint 6 +0.012 depth 10 View A...
  • Page 95 Calibration tool (α, β and γ-axis) Post a sign indicating that the robot is being adjusted. Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power. Enter the safety enclosure. Securing the calibration tool Step 3 Secure the calibration tool to the base.
  • Page 96 Move the arm slowly until the link Step 5 Position link ball against tool. ball on the end of the arm contacts the top of the calibration tool. Calibration tool Apply the motor brake for α-axis. Remove the calibration tool from the base.

  • Page 97: Adjusting The Θ-Axis Origin Position (4-Axes Specification Only)

    Adjusting the θ-axis origin position (4-axes specification only) The θ-axis origin position reference is the position in which the tool flange dowel hole is facing the α-axis. The axis is adjusted to the reference position when shipped from the factory, however, the position may shift slightly. When installing the robot for the first time, it is necessary to use the calibration tool to adjust the origin position. CAUTION The tool flange is fixed on 3-axes robots and therefore it is only necessary to attach the moveable base in the correct direction. Refer to "9.1 Attaching the shafts, moveable base, and spring covers" in Chapter 2 for details on attaching the moveable base. With the 4-axes robot, it is necessary to adjust the θ-axis origin origin position in addition to attaching the moveable base in the correct direction. The θ-axis origin position should generally never be changed. If changed, the axis may no longer move in the right direction. Post a sign indicating that the robot is being adjusted. Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power.
  • Page 98 Secure at the two tool flange M5 holes. Securing the calibration tool Dowel hole Secure at these two points. Knock-pin θ-axis calibration tool θ-axis calibration tool...

  • Page 99: Setting The Soft Limits

    Setting the soft limits With the R6Y3 robot, by setting the plus and minus soft limits [°] for each axis with the origin position (0°) as the reference, the movement range is limited by setting the movement angle from the 0° position. Refer to the controller user’s manual when 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 "1.2 External view and dimensions" in Chapter 5 for the robot movement range. Setting the α, β and γ-axis soft limits Set the soft limits within the movement range or within the range where the robot does not interfere with peripheral equipment (but within movement range).Furthermore, reduce the soft limits to narrow the movement range when the actual movement range of the robot is small or it interferes with the peripheral equipment.

  • Page 100: Setting The Θ-Axis Soft Limits

    Setting the θ-axis soft limits The θ-axis has no mechanical stoppers. Set the θ-axis plus and minus soft limits [°] to narrow the movement range when the actual θ-axis movement range of the robot is small or the robot interferes with the peripheral equipment. Speed reduction ratio R6Y31110L03067NJ5 R6Y31110H03067NJ5 1/21 3-10...

  • Page 101: Chapter 4 Periodic Inspection

    Chapter 4 Periodic inspection Contents Overview List of inspection items...

  • Page 103: Overview

    Overview Daily and periodic inspection of the oMRoN robot is essential in order to ensure safe and efficient operation. periodic inspection for the R6Y3 robot consists of daily inspection, monthly inspection and 6-month inspection. Be sure to perform the daily inspection before starting the robot and after completion of each day’s work. For details on inspection items, see "2. List of inspection items" in the next section. For details on how to perform periodic inspection, refer to the separate R6Y3 Maintenance Manual. Before starting the maintenance work, thoroughly read the following cautions and Safety Instructions to strictly observe the instructions. Cautions on daily inspection ■ CAUTION • Adjustment, maintenance and parts replacement require specialized technical knowledge and skills, and also may involve hazards. These tasks must be performed only by persons who have enough and qualifications required by local laws and regulations. • Do not perform robot inspection, adjustments, repair or part replacement not described in this manual. This work requires specialized technical knowledge and skill, and may also involve work hazards. • When inspection is required inside the safety enclosure, always turn off the controller and also the external switch board.

  • Page 104: List Of Inspection Items

    List of inspection items WARNING REFER To THE INSpECTIoN ITEMS IN THE SEpARATE R6Y3 MAINTENANCE MANUAL WHEN CARRYINg oUT INSpECTIoN. : 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 Robot cable • Check for scratch, dent or excessive bend. User cable and wiring • Check for scratch dent, or excessive bend. • Check air pressure. Regulator • Check for air leak. Joint Air tube Solenoid valve • Check drain.
  • Page 105 Chapter 5 Specifications Contents Manipulator Basic specification External view and dimensions Robot inner wiring diagram...

  • Page 107: Manipulator

    Manipulator Basic specification Robot model R6Y30110S03067NJ5 R6Y31110L03067NJ5 R6Y31110H03067NJ5 x, Y axis Stroke Ø1100mm Working volume z axis Stroke 300mm (max. Ø1100mm)/450mm (center Ø580mm) θ axis Rotation range ±180° (default setting, it can be changed) Arm 1, 2, 3 1000W Servo motor Rotational axis 4 100W x, Y, z axis ±0.2mm Repeatability θ axis ±0.1° Maximum payload Maximum through-put 150 CPM θ axis tolerable moment of inertia 0.01kgm (50W) 0.035kgm (100W) User tubing (outer diameter) Ø6x1 (moveable tool) Travel limit...

  • Page 108: External View And Dimensions

    External view and dimensions R6Y30110S03067NJ5 Detailed drawing of installation surface (1067) Eyebolts (3 locations) 4-M5×0.8 depth 8 Rc 1/8 Joint 6 20 depth 3 + 0.012 depth 10 View A...
  • Page 109 R6Y31110L03067NJ5, R6Y31110H03067NJ5 Do not attach tubing to θ-axis cable. Detailed drawing of installation surface Eyebolts (3 locations) (1067) 4-M5×0.8 depth 8 Rc1/8 20 depth 3 Joint 6 +0.012 depth 10 View A...

  • Page 110: Robot Inner Wiring Diagram

    Robot inner wiring diagram β-axis encoder β-axis motor, brake β-axis brake release switch γ-axis brake release switch α-axis encoder α-axis motor, brake γ-axis motor, brake γ-axis encoder α-axis brake release switch User tubing (air tube attachment port) User tubing (tapered screw hole)
  • Page 111 Revision history A manual revision code appears as a suffix to the catalog number on the front cover manual. Cat. No. I194E-EN-02 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Description June 2013 Original production September 2013 Delta robot model references have been modified April 2014 Illustrations were changed, inspection precautions were added, text errors were corrected May 2014 Workspace parameters were corrected...
  • Page 112 Buyer indemnifies Omron against all related costs or expenses. rights of another party. 10. Force Majeure. Omron shall not be liable for any delay or failure in delivery 16. Property; Confidentiality. Any intellectual property in the Products is the exclu-...
  • Page 113 OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON EUROPE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • +31 (0) 23 568 13 00 • www.industrial.omron.eu Authorized Distributor: Automation Control Systems •...

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