Omron R6YXC1000, User Manual, Page: 45 / 260

Impor
tant inf
or
ma
tion bef
or
e r
eading this manual
iii
Before using the robot controller (Be sure to read the following notes)
Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks will require the return-to-origin for setting the origin position each time
the power is turned on or may cause abnormal operation (vibration, noise).
[1] When connecting the power supply to the robot controller
Always make a secure connection to the ground terminal on the robot controller to ensure safety and prevent
malfunctions due to noise.
TIP
Refer to "3.1. Power supply and ground terminals" in Chapter 3 for detailed information.
[2] When connecting the battery cable to the robot controller
The absolute battery connector has not been connected to the controller at shipment to prevent discharge. After installing
the controller, be sure to connect the absolute battery connector while referring to "4. Connecting the absolute battery"
in Chapter 3 before connecting the robot connection cables.
An error is always issued and the origin position cannot be detected if the robot controller power is turned on without
connecting the absolute batteries. This means the robot connected to this controller cannot be used with absolute
specifications.
[3] When connecting robot cables to the robot controller
Be sure to keep robot cables separate from the robot controller power connection lines and other equipment power lines.
Using in close contact with lines carrying power may cause malfunctions or abnormal operation.
TIP
Performing return-to-origin is always required when the robot controller power is first turned on after connecting
the robot cable to the robot controller. Refer to the operator’s manual.
Additionally, when the robot connection cable is disconnected form the controller and connected again, it is
also required to perform return-to-origin.
[4] Setting the maximum speed
When operating a ball screw driven robot, the ball screw’s free length will increase as the movement stroke increases,
and the resonant frequency will drop. This may cause the ball screw to resonate and vibrate severely depending on
the motor rotation speed. (The speed at which resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot model when the movement
stroke increases.
CAUTION
Continuous operation while the ball screw is resonating may cause the ball screw to wear out prematurely.
[5] Duty
To lengthen the service life of robots, the robots must be operated within the allowable duty (50%).
The duty is calculated as follows:
Duty (%) =
Operation time
Operation time+ Non-operation time
×100
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the non-operation
time to reduce the duty.