![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981090.webp)
3-50
CHAPTER 3 Installation
15) Reattach the Y-axis arm cover.
8-4
Overrun amounts during impacts with X, Y and Z-axis addi-
tional mechanical stoppers
A urethane damper is installed to absorb the shock when an impact occurs
with the mechanical stopper, so a certain amount of overrun occurs when the
robot strikes the mechanical stopper. Use caution and take overrun into account
since the end effector may interfere with the robot body and peripheral equip-
ment or the robot body may interfere with the peripheral equipment.
Maximum overrun amounts are listed below (for normal operation, maximum
payload, maximum speed).
5mm
Lower end
2mm
Upper end
Z-axis
16
°
Y-axis
10
°
X-axis
Note: Here,
°
(deg.) is the overrun angle at the X-axis and Y-axis joints.
(1) When the robot strikes the X-axis or Y-axis mechanical stopper or another
object, or when the R-axis collides with an object, speed reduction gears
are locked while being meshed if the collision impact is large. If this hap-
pens, please contact our sales office or dealer.
(2) If the X-axis, Y-axis or Z-axis mechanical stopper is deformed or damaged
by impacts, please contact our sales office or dealer. Using the deformed or
damaged mechanical stopper is dangerous, so it must be replaced.
(3) After the robot strikes the Z-axis mechanical stopper, the stopper position
may shift, and so check the stopper position. If shifted, move the stopper to
the correct position and refasten it securely by following the assembly pro-
cedure.
WARNING
THE PLUS DIRECTION STOPPER WILL BECOME A LOAD, AND SO THE
Z-AXIS ACCELERATION MUST BE REDUCED AS SHOWN BELOW. IF
NOT REDUCED, THE SERVICE LIFE OF THE Z-AXIS DRIVE UNIT WILL
DECREASE.
Tip load
Z-axis acceleration
85%
3kg
90%
2kg
90%
90%
1kg
0kg
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...