Omron R6YXG500, Installation Manual

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CAUTION
The positions shown below are reference data. So, if there is an interference object on the base rear side, be sure to keep a sufficient
space.
The harness projection amount Y and position Z at the symmetrical position of the arm to the Y-axis plus axis are the same values
as those stated in the tables below. The X value at the symmetrical position of the arm to the Y-axis plus axis is the value stated in
the table below, the sign of which is inverted.
X(mm) Y(mm)
θ
X
(°) θ
X
(°)
0 -30 -60 -90 -120 -140 0 -30 -60 -90 -120 -140
θ
Y
(°)
-144 65 0 0 0 0 0
θ
Y
(°)
-144 155 136 136 136 136 136
-120 80 0 0 0 0 0 -120 160 136 136 136 136 136
-90 70 0 0 0 0 0 -90 170 136 136 136 136 136
-60 50 70 0 0 0 0 -60 165 136 136 136 136 136
-30 10 50 0 60 0 0 -30 160 136 136 136 136 136
0 0 25 50 0 0 0 0 160 145 135 145 136 136
30 -10 10 20 40 80 100 30 160 160 160 155 145 136
60 -50 -15 15 45 95 95 60 165 175 160 165 170 160
90 -70 -40 5 20 65 80 90 170 180 185 200 185 190
120 -80 -60 -40 -10 30 65 120 160 165 185 210 230 230
144 -65 -100 -70 -40 15 20 144 155 170 190 225 245 280
Z(mm)
θ
X
(°)
0 -30 -60 -90 -120 -140
θ
Y
(°)
-144 350 300 300 300 300 300
-120 350 300 300 300 300 300
-90 410 300 300 300 300 300
-60 420 300 300 300 300 300
-30 460 400 300 300 300 300
0 460 410 470 370 300 300
30 460 430 410 450 435 440
60 420 450 450 455 460 460
90 410 410 460 470 480 475
120 350 410 430 450 470 480
144 350 390 420 460 470 480
7. Set the tip mass parameter of the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500,
R6YXGL600, R6YXGS300 and R6YXGS400.
When the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300 and R6YXGS400 has any of three
specifications with the extension shaft or tool flange installed as shown in the Fig. below, set the tip mass parameter as follows.
Tip mass parameter = Actual tip mass + 1 (kg)
Failure to make this setting may shorten the service life of the drive unit.
Setting the tip mass parameter of the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600
User wiring/tubing through spline type Tool flange mount type User wiring/tubing through spline
and tool flange mount type
Extension shaft
Tool flange
Extension shaft
Tool flange