Omron R6YXG500, Installation Manual

Page: 217 / 330

3
Robot settings
3-41
8
Secure the pin (2) with the bolt (4).
1. Adjust the arm positions so that the pin can be
inserted into the enlarged hole in the Y-axis arm
and the sleeve without jamming, and then insert
the pin.
2. Secure the pin with the bolt. Tighten the bolt so
that the pin does not move.
Y-axis position pulse value
Step 8-9
Y-axis arm
Bolt
Pin
Sleeve
X-axis arm
Elongated hole
Clockwise
Counterclockwise
9
Make a note of the Y-axis position
pulse value.
1. Enter "mAnUAL>poInT" mode.
2. Lightly apply a clockwise torque to the Y-axis
while holding the X-axis arm.
3. Make a note of the Y-axis position pulse value
displayed on [POS] when the torque is unloaded.
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.
10
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 10
+Y direction
+X direction 11
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)
R6YXG500
R6YXGS500
200.00 300.00
R6YXG600
R6YXGS600
300.00 300.00
R6YXGH600 200.00 400.00
R6YXG700
R6YXGS700
300.00 400.00
R6YXG800
R6YXGS800
400.00 400.00
R6YXG900
R6YXGS900
500.00 400.00
R6YXG1000
R6YXGS1000
600.00 400.00
12
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 12
Note: Round off the decimal part of the M2 value.
M1= X-axis position pulse value you have made a note of in step 10
2
M2=
+
Y-axis position pulse value you have
made a note of in step 9 (clockwise)
Y-axis position pulse value you have
made a note of in step 9 (counterclockwise)
13
Return the cover and plate to their
original positions.
1. Remove the pin, bolt, and sleeve.
2. Reattach the cover, plate, and bolt