Omron R6YXG500, Installation Manual

Page: 175 / 330

Chapter 3 Robot settings
Contents
1. Overview 3-1
2. Adjusting the origin 3-2
2.1 Absolute reset method 3-2
2.1.1 Sensor method (X-axis, Y-axis and R-axis) 3-2
2.1.2 Stroke end method (Z-axis) 3-3
2.2 Machine reference 3-3
2.3 Absolute reset procedures 3-5
2.3.1 Sensor method (X-axis, Y-axis and R-axis) with YRCX controller 3-5
2.3.2 Stroke end method (Z-axis) with YRCX controller 3-6
2.3.3 Sensor method (X-axis, Y-axis and R-axis) with YRC controller 3-8
2.3.4 Stroke end method (Z-axis) with YRC controller 3-9
2.4 Changing the origin position and adjusting the machine reference 3-11
2.4.1 Sensor method (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) 3-11
2.4.2 Sensor method (R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000)
(R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) 3-19
2.5 Adjusting the machine reference value of the stroke end method (Z-axis) 3-30
2.5.1 Stroke end method (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) 3-30
2.5.2 Stroke end method (R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000)
(R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) 3-32
3. Setting the soft limits 3-35
3.1 Setting the X-axis and Y-axis soft limits 3-35
3.2 Setting the Z-axis soft limits 3-36
3.3 Setting the R-axis soft limit 3-36
3.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses
3-36
4. Setting the standard coordinates 3-37
4.1 Standard coordinate setting using a standard coordinate setup jig 3-38
4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 3-38
4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 3-39
5. Affixing the stickers for origin positions, movement directions, and axis names 3-42