![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981086.webp)
3-46
CHAPTER 3 Installation
8-3
Installing the Z-axis additional mechanical stopper
8-3-1
Installing the minus direction stopper
Install the additional mechanical stopper in the Z-axis minus direction by fol-
lowing the instructions shown in Fig. 3-46.
1) Prepare the hex wrench set and torque wrench.
2) Turn off the robot controller.
3) Place a sign indicating the robot is being adjusted, to keep others from
touching the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis arm cover by referring to section 7 in Chapter 4, and
move up the urethane damper.
6) Install the additional stopper r to the spline shaft by tightening the supplied
bolts to the specified torque.
Alternately tighten the bolts a little at a time. Depending on the relation to
the Z-axis machine reference adjustment, L
2
in the Z-axis minus direction
stopper in Table 3-6 will be a position at 3mm intervals, such as approxi-
mately 12mm, 15mm, etc.
7) Go out of the safeguard enclosure.
8) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
9) Place a sign indicating the robot is being adjusted, to keep others from op-
erating the controller or operation panel.
10) Perform the Z-axis absolute reset.
To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures"
in Chapter 4. Make a note of the Z-axis machine reference value.
(1) Press the MODE key.
(2) Press the F3 key to enter MANUAL mode.
(3) Press the F13 key (LOWER+F3) to select "ABS Reset".
CAUTION
USE THE FOLLOWING PROCEDURE TO DISPLAY THE ADJUSTMENT
MACHINE REFERENCE VALUE.
WHEN ADJUSTING THE MACHINE REFERENCE VALUE, ALWAYS
CHECK THE ADJUSTMENT MACHINE REFERENCE VALUE WITH THIS
PROCEDURE.
Summary of Contents for R6Y Series
Page 2: ......
Page 12: ......
Page 30: ......
Page 32: ......
Page 38: ......
Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Page 108: ......
Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Page 160: ......
Page 162: ......
Page 202: ......
Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Page 204: ......
Page 210: ......
Page 212: ......
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...