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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 ................................... 1-14
8 Automatic Operation .............................................................. 1-15
9 Warranty ................................................................................. 1-16
CHAPTER 2 Functions
1 Robot Manipulator ................................................................... 2-1
2 Robot Controller ....................................................................... 2-4
3 Robot initialization number list ................................................ 2-5
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
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...