3
Robot settings
3-1
1. Overview
R6Y3 robot origin position setting is performed at the oMRoN factory.
Specify the controller settings while referring to the controller user's manual.
The following describes the safety precautions to be observed when making various settings.
CAUTION
• Read and understand the contents of this chapter completely before attempting to set the robot.
• place a conspicuous sign indicating the robot is being adjusted, to prevent others from touching the controller switch or operation
panel.
• If a safety enclosure has not yet been provided right after installation of the robot, rope off or chain off the movement range around
the manipulator in place of a safety enclosure, and observe the following points.
1. Use stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a conspicuous sign prohibiting the operator or other personnel from entering the movement range of the manipulator.
• Refer to the controller user's manual if performing an operation check after setting.
1.1 Kinematics
The kinematics parameters and work space parameters for the R6Y3 are shown below. Set these parameters
corresponding to the controller settings.
CAUTION
If the kinematics parameters and work space parameters are not set properly, this may cause the robot to malfunction.
So, be sure to set these parameters correctly.
/P
PP
5I
/I
5P
.LQHPDWLFVSDUDPHWHUV
Rf:
PP'LVWDQFHUDGLXVIURPWKHFHQWHURIWKHIL[HGIUDPHWRWKHPRWRURIWKHD[LV
Rm:
PP'LVWDQFHUDGLXVIURPWKHFHQWHURIWKHPRYLQJIUDPHWRWKHFRQQHFWLRQSRLQWRI/LQN
Lf:
PP/HQJWKRI/LQN
Lm:
PP/HQJWKRI/LQN