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CHAPTER
3
Installation
1 Robot Installation Conditions ............................................................3-1
1-1 Installation environments ..............................................................................3-1
1-2 Installation base ............................................................................................3-3
2 Installation ..........................................................................................3-5
2-1 Unpacking .....................................................................................................3-5
2-2 Checking the product ....................................................................................3-6
2-3 Moving the robot...........................................................................................3-7
2-3-1
Moving the R6YXH250, R6YXH350, R6YXH400 ................................... 3-7
2-3-2
Moving the R6YXX1200 ............................................................................ 3-8
2-4 Installing the robot ...................................................................................... 3-11
3 Protective Bonding ...........................................................................3-12
4 Robot Cable Connection ..................................................................3-14
5 User Wiring and User Tubing ..........................................................3-16
6 Attaching The End Effector .............................................................3-20
6-1 R-axis tolerable moment of inertia and acceleration coefficient ................3-20
6-1-1
Acceleration coefficient vs. moment of inertia (R6YXH250) .................. 3-22
6-1-2
Acceleration coefficient vs. moment of inertia (R6YXH350) .................. 3-23
6-1-3
Acceleration coefficient vs. moment of inertia (R6YXH400) .................. 3-24
6-1-4
Acceleration coefficient vs. moment of inertia (R6YXX1200) ................ 3-25
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) ...............................................3-41
8-1 Installing the X-, Y- and Z-axis additional mechanical stoppers ................3-41
8-2 Installing the X- and Y-axis additional mechanical stoppers ......................3-44
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...