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4-28
CHAPTER 4 Adjustment
2-2 Changing the Y-axis origin position
The method to change the Y-axis origin position 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.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) Place a sign indicating that the robot is being adjusted in order to keep
others from operating the controller or operation panel.
5) Turn off the controller and enter the safeguard enclosure.
6) Use the hex wrench to loosen two setscrews which fasten the dog ring of
the Y-axis joint area. (See Fig. 4-7.)
7) Turn the dog ring to move the sensor detection area (dog) on the dog ring
to the desired origin position.
8) Tighten the setscrews to fasten the dog ring.
9) Go out of the safeguard enclosure, and check that no one is inside the safe-
guard enclosure. Then turn on the controller.
10) Perform the absolute reset from outside the safeguard enclosure.
11) After the absolute reset is completed, read the machine reference value
displayed on the PB.
12) If the machine reference value is in the range between 40 and 60 (recom-
mended range), then the origin position has been completely changed.
If it is outside the recommended value, then adjust the machine reference
by referring to "2-1 Adjusting the Y-axis 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.
CAUTION
IT IS SUFFICIENT TO LOOSEN THEM. IT IS NOT NECESSARY TO
COMPLETELY REMOVE THEM.
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...