Omron R6YXG500, Installation Manual

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3
Robot settings
3-39
4. Lightly apply a counterclockwise torque to the
Y-axis while holding the X-axis arm.
5. Make a note of the Y-axis position pulse value
displayed on [POS] when the torque is unloaded.
9
Determine the + direction of the
X-axis.
Move the X-axis arm in the direction that you want
to set as the + direction of the X-axis. At this time,
make a note of the X-axis position pulse value
displayed on [POS].
X-axis + direction
Step 9
+Y direction
+X direction
10
Enter the "11. Arm length [mm]"
values.
Enter the following values in m1 and m2 for "11.
Arm length [mm]" of axis parameters.
M1 (X-axis arm length) M2 (Y-axis arm length)
R6YXGL250 100.00 150.00
R6YXGS300 150.00 150.00
R6YXGL350 200.00 150.00
R6YXGL400,
R6YXGS400
250.00 150.00
R6YXGL500 250.00 250.00
R6YXGL600 350.00 250.00
11
Enter the "12. Offset pulse" values.
Enter the values shown on the right in "12. offset
pulse" of axis parameters.
Entering the “12. Offset pulse” values
Step 11
Note:
Round off the decimal part of the M2 value.
M1= X-axis position pulse value you have made a note of in step 9
2
M2=
+
Y-axis position pulse value you have
made a note of in step 8 (clockwise)
Y-axis position pulse value you have
made a note of in step 8 (counterclockwise)
12
Reattach the plug bolt.
1. Remove the pin and bolt.
2. Reattach the plug bolt.
4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
WARNING
bEFoRE STARTInG THE WoRK, THoRoUGHLY REAd "13. dETACHInG oR ATTACHInG THE CovERS" In CHApTER 2.
Standard coordinate setup jig (option)
Part No. Name Q'ty
1 Kbp-m1562-002 Sleeve 1
2 Kbp-m1577-001 Pin 1
3
91312-04025
bolt (R6YXG500, R6YXG600)
(R6YXGS500, R6YXGS600)
2
91312-04030
bolt (R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000)
(R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000)
2
4 91312-04050 Bolt 1
1
Turn on the controller.
Check that no one is inside the safety enclosure, and
then turn on the controller.
2
Put the robot in the emergency stop
status.
press the emergency stop button on the pbEX/pb to
put the robot in the emergency stop status.