4-50
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. If the load is greater than this, move it in the
direction reducing the tension. Then, retighten the bolt.
3. Recheck the belt tension using the same procedure in step 7). When the
load applied to produce the specified slack is within the specified range
of Table 4-7, the adjustment is okay. If not, repeat the above procedure
from steps 1 to 3.
10) After adjustment is complete, tighten the bolt q or w to the torque specified
in Table 4-8.
11) Reattach the harness clamp stay to the Y-axis arm. (See Fig. 4-19.)
Be careful not to allow the R-axis belt to make contact with the harness
clamp stay and harness.
12) Reattach the Y-axis arm front cover and side cover.
Refer to "7 Removing the Robot Covers" in Chapter 4 for attaching the
covers.
13) Go outside the safeguard enclosure.
14) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
M4
×
10
harness clamp stay
R-axis belt
w
M6
×
20
R-axis motor
Z-axis motor
q
M6
×
20
Install the harness clamp stay so that the R-axis belt
and the harness do not make contact with each other.
Z-axis belt
Tension reduces
Tension increases
Fig. 4-19 R6YXX1200
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...