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3
Robot settings
3-3
2.1.2 Stroke end method (Z-axis)
In the stroke end method, absolute reset is performed at a position slightly backed off from the stroke end, after the
Z-axis contacts the mechanical stopper and stroke end is detected.
WARNING
SERIoUS InJURY mIGHT oCCUR FRom pHYSICAL ConTACT WITH THE RoboT dURInG opERATIon. nEvER EnTER
WITHIn THE RoboT movEmEnT RAnGE dURInG AbSoLUTE RESET.
2.2
Machine reference
The XG series position detectors are resolvers that have four positions where absolute reset can be performed per motor
revolution. If the sensor method is used for the absolute reset, the origin position will be set at the positions where
absolute reset can be performed soon after the origin sensor reacts to the dog (the origin signal is detected). The
machine reference means the position relationship of the position where the robot detects the origin signal to the
position where the absolute reset can be performed soon after detection (see the Fig. below). The machine reference is
expressed with the ratio of interval A to interval B shown in the Fig. below. Interval A is the minimum distance between
the positions where absolute reset can be performed and interval B is the distance between the position where the origin
signal is detected and the position where absolute reset can be performed soon after the origin signal detection. The
machine reference value (unit: %) is displayed on the optional pbEX/pb screen.
Machine reference value = B/A × 100(%)
CAUTION
The machine reference must be adjusted within a specified range to keep the repeatability precision of the absolute reset position (The
machine reference is factory-adjusted prior to shipping). If the origin position is changed, the machine reference must be readjusted.
For information on how to adjust the machine reference, refer to "2. Adjusting the origin” in this Chapter. When the temperature of the
robot joint sections is high immediately after the robot has been operated, the machine reference value might be outside the specified
range (25 to 75%). When checking or adjusting the machine reference value, always make sure that the temperature of the robot joint
sections has returned to room temperature.
Recommended machine reference value: 25 to 75%
Machine reference
Origin signal detection
Origin signal
Resolver
Positions where absolute
reset can be performed
One motor revolution
B
A
ON
OFF
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...