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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
8-3 Installing the Z-axis additional mechanical stopper ...........................3-46
8-3-1 Installing the minus direction stopper ................................................3-46
8-3-2 Installing the plus direction stopper ...................................................3-49
8-4 Overrun amounts during impacts with X, Y and Z-axis additional
mechanical stoppers ...........................................................................3-50
9 Working Envelope and Mechanical Stopper Positions
for Maximum Working Envelope ........................................... 3-51
10 Stopping Time and Stopping Distance at Emergency Stop ............. 3-57
10-1 R6YXH250, R6YXH350, R6YXH400 ..............................................3-57
10-2 R6YXX1200 ......................................................................................3-65
CHAPTER 4 Adjustment
1 Overview .................................................................................. 4-1
2 Safety Precautions .................................................................... 4-1
3 Adjusting the origin .................................................................. 4-2
3-1 Absolute reset method ..........................................................................4-3
3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ........................................4-3
3-1-2 Mark method (X-axis, Y-axis, and R-axis) ...........................................4-4
3-1-3 Stroke end method (Z-axis) ..................................................................4-4
3-2 Machine reference ................................................................................4-5
3-3 Absolute reset procedures ....................................................................4-6
3-3-1 Sensor method (X-axis, Y-axis, and R-axis) ........................................4-6
3-3-2 Mark method (X-axis, Y-axis, and R-axis) ...........................................4-8
3-3-2-1 Absolute reset with servo on (re-reset) ..............................................4-9
3-3-2-2 Absolute reset with servo off (re-reset) ........................................... 4-11
3-3-2-3 Absolute reset with servo on. (new reset) .......................................4-13
3-3-2-4 Absolute reset with servo off. (new reset) .......................................4-16
3-3-3 Stroke end method (Z-axis) ................................................................4-22
3-4 Changing the origin position and adjusting the machine reference ................4-23
3-4-1 Sensor method ....................................................................................4-24
3-4-1-1 R6YXH250, R6YXH350, R6YXH400 ...........................................4-24
3-4-2 Mark method ......................................................................................4-32
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...