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3
Robot settings
3-11
2.4
Changing the origin position and adjusting the machine reference
This section describes how to change the origin position and adjust the machine reference.
WARNING
bEFoRE STARTInG THE WoRK, THoRoUGHLY REAd "13. dETACHInG oR ATTACHInG THE CovERS" In CHApTER 2.
CAUTION
• If the origin position has been changed, then the absolute reset must be performed, the machine reference must be adjusted, and the
standard coordinate and point data must be reset.
• If any machine reference is adjusted, the origin position may change. before the adjustment, mark off the reference mark at the
current origin position on the main body of the robot. After the machine reference is adjusted, be sure to check that the origin
position has not deviated. If the origin position changes after the machine reference has been adjusted, then the standard coordinate
and point data must be reset.
2.4.1 Sensor method
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400)
■
Adjusting the X-axis machine reference
CAUTION
• The origin position may change due to machine reference adjustment. If it occurs, you must set point data again.
• When the absolute reset direction is reversed, the origin position may not be the base front. When using the standard soft limit, the
axis may collide with the mechanical stopper. At this time, set the soft limit 2° or more inward from the mechanical stopper while
referring to "3. Setting the soft limits".
Follow the steps below to adjust the X-axis machine reference value.
Prepare a wrench for a width across flat of 13 mm.
1
Turn on the controller.
Check that no one is inside the safety enclosure, and
then turn on the controller.
2
Perform the absolute reset.
Perform the absolute reset from outside the safety
enclosure.
For details about how to perform the absolute reset,
see "2.3 Absolute reset procedures".
3
Check the machine reference value.
If the machine reference value displayed on the
pbEX/pb is not in the range between 30 and 70
(recommended range) after the absolute reset has been
completed, follow the steps below to adjust the
machine reference value.
4
Place a sign indicating the robot is
being adjusted.
Place a sign indicating the robot is being adjusted, to
keep others from operating the controller or operation
panel.
5
Turn off the controller.
6
Enter the safety enclosure.
7
Put a mark at the origin position.
Scribe a mark at the current origin position on the
X-axis joint area of the robot.
At this time, be careful to prevent the origin position
from deviating since the X-axis arm is touched.
8
Remove the cover.
Remove the cover while referring to
"13. Detaching or attaching the covers" in Chapter 2.
Adjusting the X-axis machine reference value
(R6YXGL250 to R6YXGL600)
Step 8-15
X-axis origin dog
X-axis origin sensor
Cover
Hex nut
L
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...