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3-4-3 Stroke end method ..............................................................................4-33
3-4-3-1 R6YXX1200 ....................................................................................4-33
4 Setting the Soft Limits ........................................................... 4-37
5 Setting the Standard Coordinates ........................................... 4-40
6 Affixing Stickers for Origin Positions, Movement
Directions and Axis Names .................................................... 4-41
7 Removing the Robot Covers .................................................. 4-43
8 Adjusting the Timing Belt Tension ........................................ 4-46
8-1 Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400) ............4-47
8-2 Adjusting the belt tension (R6YXX1200) ..........................................4-49
CHAPTER 5 Periodic Inspecition
1 Overview .................................................................................. 5-1
2 Precautions ............................................................................... 5-2
3 Daily Inspection ....................................................................... 5-3
4 Six-Month Inspection ............................................................... 5-5
5 Replacing the Harmonic Drive ................................................. 5-8
5-1 Replacement period ..............................................................................5-8
5-2 Basic replacement procedure for harmonic drive and precautions ................5-10
5-2-1 R6YXH250, R6YXH350, R6YXH400 ..............................................5-12
5-2-2 R6YXX1200.......................................................................................5-29
6 Replacing the Grease for RV Speed Reduction Gears
(R6YXX1200) ............................................................................. 5-34
6-1 Replacement period ............................................................................5-34
6-2 Recommended grease .........................................................................5-34
6-3 Replacement procedure ......................................................................5-35
6-3-1 Replacing the X-axis grease
(first product to products manufactured in September 2009) .............5-36
6-3-2 Replacing the X-axis grease
(products manufactured from October 2009 onward) ........................5-37
6-3-3 Replacing the Y-axis grease
(first product to products manufactured in September 2009) .............5-38
6-3-4 Replacing the Y-axis grease
(products manufactured from October 2009 onward) ........................5-39
CHAPTER 6 Increasing the robot operating speed
1 Increasing the robot operating speed ........................................ 6-1
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...
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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...