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Omron R6YXG500, Installation Manual

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Omron R6YXG500 Installation Manual Download Page 54

1-6

Functions

1

 

2.  Robot controller

The XG series robot comes supplied with a robot controller YRCX/YRC. For more details, refer to the separate 
"omRon Robot Controller User's manual".

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<5&;

<5&;

PB

MOTOR

XM

YM

ZM

RM

PWR
SRV

SAFETY

COM

STD.DIO

ROB

I/O

ZR

OP.1

OP.3

OP.2

OP.4

RGEN

ACIN

N

P

N1

L1

L
N

SEL

BATT

ZR

XY

BATT

ROB

XY

I/O

13 14

EXT.E-STOP

ERR

YRC

YRC Robot controller

YRC

Summary of Contents for R6YXG500

Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...

Page 2: ......

Page 3: ...or robots S 10 4 3 2 Precautions for robot controllers S 11 4 4 Safety measures S 13 4 4 1 Safety measures S 13 4 4 2 Installing a safety enclosure S 14 4 5 Operation S 15 4 5 1 Trial operation S 15 4...

Page 4: ...on base 2 2 2 Installation 2 3 2 1 Unpacking 2 3 2 2 Checking the product 2 5 2 3 Moving the robot 2 15 2 3 1 Moving the R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 and R6YXGL600 2 15 2 3 2 Moving the R6Y...

Page 5: ...2 49 6 5 Gripping force of end effector 2 52 7 Limiting the movement range with X axis and Y axis mechanical stoppers 2 53 7 1 R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS300 R6YXGS400 2...

Page 6: ...axis Y axis and R axis 3 2 2 1 2 Stroke end method Z axis 3 3 2 2 Machine reference 3 3 2 3 Absolute reset procedures 3 5 2 3 1 Sensor method X axis Y axis and R axis with YRCX controller 3 5 2 3 2 S...

Page 7: ...XG1000 R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 3 39 5 Affixing the stickers for origin positions movement directions and axis names 3 42 Chapter 4 Periodic inspection 1 Overview 4...

Page 8: ...1000 8 39 1 2 13 R6YXGSW300 Wall mount model 8 41 1 2 14 R6YXGSU300 Wall mount inverse model 8 44 1 2 15 R6YXGSW400 Wall mount model 8 47 1 2 16 R6YXGSU400 Wall mount inverse model 8 50 1 2 17 R6YXGSW...

Page 9: ...2 Precautions for robot controllers S 11 4 4 Safety measures S 13 4 4 1 Safety measures S 13 4 4 2 Installing a safety enclosure S 14 4 5 Operation S 15 4 5 1 Trial operation S 15 4 5 2 Automatic oper...

Page 10: ......

Page 11: ...individual system To use OMRON robots and controllers safely and correctly always comply with the safety rules and instructions For specific safety information and standards refer to the applicable lo...

Page 12: ...symbol and signal word and then read this manual DANGER THIS IndICATES An ImmEdIATELY HAZARdoUS SITUATIon WHICH IF noT AvoIdEd WILL RESULT In dEATH oR SERIoUS InJURY WARNING THIS IndICATES A poTEnTIA...

Page 13: ...T SAFETY EnCLoSURE dURInG opERATIon pRESS THE EmERGEnCY STop bUTTon bEFoRE EnTERInG THE SAFETY EnCLoSURE Instructions on this label Always install a safety enclosure to keep all persons away from the...

Page 14: ...ard to human body Improper installation or operation may cause serious injury To avoid hazard Before installing or operating the robot read the manual and instructions on the warning labels and unders...

Page 15: ...el This indicates important information that you must know and is described in the manual Before using the controller be sure to read the manual thoroughly When adding external safety circuits or conn...

Page 16: ...ning label is attached to the robot body Warning label comes supplied with the robot and should be affixed to an easy to see location on the door or gate of the safety enclosure Warning label comes su...

Page 17: ...TIvE UnITS bEComE HoT So do noT ToUCH THEm Instructions by this symbol This indicates the area around this symbol may become very hot Motors heatsinks and regenerative units become hot during and shor...

Page 18: ...d vEHICLES 2 Qualification of operators workers Operators or persons who handle the robot such as for teaching programming movement check inspection adjustment and repair must receive appropriate trai...

Page 19: ...d So THAT THEY CAUSE no HAZARdS SUCH AS A LooSE WoRKpIECE oR LoAd EvEn IF poWER ELECTRICITY AIR pRESSURE ETC IS SHUT oFF oR poWER FLUCTUATIONS OCCUR IF THE obJECT GRIppEd bY THE End EFFECToR mIGHT poS...

Page 20: ...RE To FoLLoW THIS InSTRUCTIon mAY CAUSE SERIoUS ACCIdEnTS InvoLvInG InJURY oR dEATH oR LEAd To FIRE Moving 1 Use caution to prevent pinching or crushing of hands or fingers WARNING movInG pARTS CAn pI...

Page 21: ...SAFETY EnCLoSURE YET WHERE IT IS EASY To opERATE And vIEW RoboT movEmEnT InSTALL THE RoboT ConTRoLLER In LoCATIonS WITH EnoUGH SpACE To pERFoRm WoRK TEACHInG InSpECTIon ETC SAFELY LImITEd SpACE noT on...

Page 22: ...InG THE TooL SpECIFIEd bY THE ConnECToR mAnUFACTURER CAUTION When disconnecting the cable from the robot controller detach by gripping the connector itself and not by tugging on the cable Loosen the s...

Page 23: ...wing actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below place a display sign on the operator panel...

Page 24: ...AmAGE And mALFUnCTIon do noT ToUCH oR opERATE THE RoboT ConTRoLLER oR pRoGRAmmInG boX WITH WET HAndS ToUCHInG oR opERATInG THEm WITH WET HAndS mAY RESULT In ELECTRICAL SHoCK oR bREAKdoWn 6 Do not disa...

Page 25: ...AY SIGn To KEEp THE opERAToR oR oTHER pERSonnEL FRom EnTERInG WITHIn THE movEmEnT RAnGE oF THE RoboT WARNING USE STURdY STAbLE poSTS WHICH WILL noT FALL ovER EASILY THE RopE oR CHAIn SHoULd bE EASILY...

Page 26: ...bed in 2 Adjusting the origin in Chapter 3 Standard coordinate setting SCARA robots Follow the precautions and procedure described in 4 Setting the standard coordinates in Chapter 3 Soft limit setting...

Page 27: ...boT To EmERGEnCY STop 2 pLACE A SIGn on THE START SWITCH IndICATInG THAT THE RoboT IS bEInG InSpECTEd In oRdER To KEEp oTHER pERSonS FRom RESTARTInG THE RoboT 4 5 3 Precautions during operation 1 When...

Page 28: ...p dUE To obSTRUCTIon FRom pERIpHERAL EqUIpmEnT THE Z AXIS mAY movE SUddEnLY AFTER THE obSTRUCTIon IS REmovEd CAUSInG InJURY SUCH AS pInCHEd oR CRUSHEd HANDS TURn oFF THE ConTRoLLER And REdUCE THE AIR...

Page 29: ...ed by local laws and regulations WARNING AdJUSTmEnT And mAInTEnAnCE bY REmovInG A CovER REqUIRE SpECIALIZEd TECHnICAL KnoWLEdGE And SKILLS And mAY ALSo InvoLvE HAZARdS IF ATTEmpTEd bY An UnSKILLEd pER...

Page 30: ...ssembling or replacing the pneumatic equipment WARNING AIR oR pARTS mAY FLY oUTWARd IF pnEUmATIC EqUIpmEnT IS dISASSEmbLEd oR pARTS REpLACEd WHILE AIR IS STILL SUppLIEd do SERvICE WoRK AFTER TURnInG o...

Page 31: ...al regulations or entrust disposal to a licensed industrial waste disposal company We do not collect and dispose of the used batteries 2 Disposal of packing boxes and materials When disposing of packi...

Page 32: ...ght by the robot in Chapter 1 YRCX Section 1 Emergency action when a person is caught by robot in Chapter 1 NOTE Make a printout of the relevant page in the manual and post it a conspicuous location n...

Page 33: ...d to the manipulator tip and the solenoid valves attached to the robot arms move To make the robot motion easier to understand the figures below only show the movement ranges of the tool attachment se...

Page 34: ...re installed at both ends of the maximum movement range Some robot models have a standard feature that allows changing the mechanical stopper positions On some other models the mechanical stopper posi...

Page 35: ...form the job correctly and safely They must also read the manual carefully to understand its contents before attempting the robot operation or maintenance Tasks related to industrial robots teaching p...

Page 36: ......

Page 37: ...r related product not approved by OMRON or OMRON sales representative 4 Use of any other than genuine parts and specified grease and lubricant 5 Incorrect or inadequate maintenance and inspection 6 Re...

Page 38: ......

Page 39: ...Contents Before using the robot Be sure to read the following notes i Introduction v Introduction...

Page 40: ......

Page 41: ...s manual and Setting the Standard Coordinates in the omRon Robot Controller User s manual If the standard coordinate settings are incorrect robot malfunctions vibration excessive noise may occur CAUTI...

Page 42: ...gle is smaller than 5 so that it moves in almost the same position an oil film is difficult to be formed on the joint support bearing possibly leading to damage to the bearing In this type of operatio...

Page 43: ...0 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 X 0 30 60 90 120 140 Y 144 350 300 300 300 300 300 120 350 300 300 300 300 300 90 410 300 300 300 300...

Page 44: ...be overloaded easily So do not operate the robot with a tip load exceeding 5kg Putting timer during Z axis operation Only Z axis operates Upper end Lower end Total timer 1 0 sec All axes operate Time...

Page 45: ...read through this manual This manual describes the following robot models Standard model R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1...

Page 46: ......

Page 47: ...Chapter 1 Functions Contents 1 Robot manipulator 1 1 1 1 Manipulator movement 1 1 1 2 Part names 1 2 2 Robot controller 1 6 3 Robot initialization number list 1 7...

Page 48: ......

Page 49: ...xes the XG series robots can move as shown in the Fig below by attaching different types of end effector gripper to the end of the arm a wide range of tasks can be performed with high precision at hig...

Page 50: ...X axis arm X axis speed reduction gear X axis mechanical stopper User tubing 1 4 black User tubing 2 4 red User tubing 3 4 blue M4 ground terminal End effector attachment End effector attachment Tapp...

Page 51: ...ear Z axis spline Z axis motor Y axis speed reduction gear Y axis arm Y axis motor X axis arm Y axis mechanical stopper Warning label 3 X axis motor Tapped hole and screw for user X axis speed reducti...

Page 52: ...B C C Tapped hole for user Extension shaft for user wiring and tubing End effector attachment Warning label 4 User tubing 1 4 black User tubing 2 4 red User tubing 3 4 blue User tubing 1 4 black User...

Page 53: ...r user wiring No 1 to 20 Eyebolt installation position For wall mount inverse model For the wall mount inverse model the installation orientation shown in the Fig above becomes upside down Ball screw...

Page 54: ...YRCX YRC For more details refer to the separate omRon Robot Controller User s manual 5 5RERW FRQWUROOHU 5 5 PB MOTOR XM YM ZM RM PWR SRV SAFETY COM STD DIO ROB I O ZR OP 1 OP 3 OP 2 OP 4 RGEN ACIN N...

Page 55: ...ng make a note of the ARm LEnGTH and oFFSET pULSE settings before initializing and re enter their settings after initialization is complete Robot initialization number Model name 2135 R6YXGL250 2136 R...

Page 56: ......

Page 57: ...ia R6YXGL250 2 36 6 1 2 Acceleration coefficient vs moment of inertia R6YXGL350 R6YXGS300 2 37 6 1 3 Acceleration coefficient vs moment of inertia R6YXGL400 R6YXGS400 2 38 6 1 4 Acceleration coefficie...

Page 58: ...un amounts during impacts with Z axis additional mechanical stopper 2 72 8 2 R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS10...

Page 59: ...40 m or less Working space Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on how to install the robot controller refer to the separate omRon Rob...

Page 60: ...epare a robot installation base The maximum reaction force applied to the X axis and Z axis of each robot during operation is shown in the Table below These values are instantaneous force values appli...

Page 61: ...G series robot comes packed with a robot controller and accessories according to the order specifications Using a carrying cart dolly or forklift move the package to near the installation base Take su...

Page 62: ...ontroller and accessories Arm clamping stay Used only for transportation Remove after installation Packed state R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 Robot manipulator Robot controller and accessor...

Page 63: ...in your order CAUTION If there is any damage due to transportation or insufficient parts please notify your distributor immediately Controller YRCX Robot R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXG...

Page 64: ...SXODWRU 8VHU V 0DQXDO 5 FRQWUROOHU 6WDQGDUG FRRUGLQDWH VHWWLQJ MLJ RSWLRQ 6WDQGDUG 2SWLRQ DUQLQJ ODEHO HEROWV 2ULJLQ SRVLWLRQ VWLFNHUV VXE FRQQHFWRU KRRG 7KHVH ZDVKHUV DUH XVHG ZKHQ PRYLQJ WKH URERW X...

Page 65: ...RCX Robot R6YXGS300 R6YXGS400 5 5 3URGXFW FRQILJXUDWLRQV 5RERW PDQLSXODWRU 8VHU V 0DQXDO DUQLQJ ODEHO 6WDQGDUG FRRUGLQDWH VHWWLQJ MLJ RSWLRQ 2ULJLQ SRVLWLRQ VWLFNHUV VXE FRQQHFWRU KRRG 6WDQGDUG 2SWLRQ...

Page 66: ...RUGLQDWH VHWWLQJ MLJ RSWLRQ 6WDQGDUG 2SWLRQ DUQLQJ ODEHO HEROWV 2ULJLQ SRVLWLRQ VWLFNHUV VXE FRQQHFWRU KRRG 7KHVH ZDVKHUV DUH XVHG ZKHQ FKDQJLQJ WKH PHFKDQLFDO VWRSSHU SRVLWLRQV DVKHUV 6SULQJ ZDVKHUV...

Page 67: ...5RERW PDQLSXODWRU 8VHU V 0DQXDO 6WDQGDUG FRRUGLQDWH VHWWLQJ MLJ RSWLRQ 7UDQVSRUWDWLRQ MLJ ZLWK H HEROWV SFV 6WDQGDUG 2SWLRQ DUQLQJ ODEHO 2ULJLQ SRVLWLRQ VWLFNHUV VXE FRQQHFWRU KRRG DVKHUV 7KHVH ZDVKH...

Page 68: ...PW R SRV SAFETY CO M STD D IO RO B I O ZR OP 1 OP 3 OP 2 OP 4 ACIN N P N1 L1 L N SEL BATT ZR XY BATT RO B XY I O 13 14 EXT E ST OP ERR A B X Y Z R YRC PB programming box Robot manipulator User s Manua...

Page 69: ...XY I O 13 14 EXT E ST OP ERR YRC A B X Y Z R PB programming box Robot manipulator User s Manual YRC controller Standard coordinate setting jig option Standard Option Warning label 1 Eyebolts 2 Origin...

Page 70: ...Manual Warning label 1 Standard coordinate setting jig option Origin position stickers D sub connector hood 2 Standard Option PB MO TOR XM YM ZM RM PW R SRV SAFETY CO M STD D IO RO B I O ZR OP 1 OP 3...

Page 71: ...A B X Y Z R PB programming box Robot manipulator User s Manual YRC controller Standard coordinate setting jig option Standard Option Warning label 1 Eyebolts 2 Origin position stickers D sub connector...

Page 72: ...B XY I O 13 14 EXT E ST OP ERR YRC A B X Y Z R PB programming box Robot manipulator User s Manual YRC controller Standard coordinate setting jig option Transportation jig with eyebolts 2 pcs Standard...

Page 73: ...e R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 and R6YXGL600 1 Fold the arms Take out the robot from the case or remove it from the pallet Fold the arms while referring to the Fig below Moving the robot Su...

Page 74: ...d R6YXG600 lower the Z axis approximately 24mm from its origin position For the R6YXGH600 R6YXG700 R6YXG800 R6YXG900 and R6YXG1000 lower the Z axis approximately 33mm from its origin position NOTE The...

Page 75: ...te remove the mounting bolts from the supplied pallet or installation base if the robot is moved to another installation base 10 Move the robot Using caution to keep the balance of the robot and avoid...

Page 76: ...ving the robot Robot cable Robot main body Support Support 2 Place the robot on the base One work person holds the support of the robot main body with both hands and other work person holds the robot...

Page 77: ...ng the robot by equipment such as cranes that require a license only properly qualified personnel may operate it The equipment and tools used for moving the robot should be serviced daily The followin...

Page 78: ...lied Supplied bolt 2 Supplied bolt 1 Washer 6 Install the stoppers to prevent turning of the X axis NOTE The stoppers are installed at shipment from the factory Remove two base plug bolts and install...

Page 79: ...r that if the position where the eyebolt is no longer tightened does not meet the position shown in the Fig below loosen the eyebolt slightly so that it must be correctly installed at the position sho...

Page 80: ...ation base 11 Move the robot Using caution to keep the balance of the robot and avoid subjecting it to any strong vibrations and shocks operate the hoist carefully to gently move the robot to the inst...

Page 81: ...mensions see 1 2 External view and dimensions in Chapter 8 13 Remove the ropes eyebolts washers and arm clamp stay 14 Remove the X axis mechanical stoppers Remove the X axis mechanical stoppers that h...

Page 82: ...s that require a license only properly qualified personnel may operate it The equipment and tools used for moving the robot should be serviced daily The following describes how to correctly and safely...

Page 83: ...Install the stoppers to prevent turning of the X axis NOTE The stoppers are installed at shipment from the factory Remove two base plug bolts and install the stoppers at these two locations Removing...

Page 84: ...jigs Wall mount model Wall mount inverse model Eyebolt is installed on the base side Eyebolt is installed on the spline side 8 Secure the robot cable Wind the robot cable around the side of the robot...

Page 85: ...Using caution to keep the balance of the robot and avoid subjecting it to any strong vibrations and shocks operate the hoist carefully to gently move the robot to the installation base Moving the rob...

Page 86: ...tions and dimensions see 1 2 External view and dimensions in Chapter 8 13 Remove the ropes transportation jigs and arm clamp stay 14 Remove the X axis mechanical stoppers Remove the X axis mechanical...

Page 87: ...0 R6YXG1000 M12 128nm 1310kgfcm R6YXGS300 R6YXGS400 M8 37nm 380kgfcm R6YXGS500 R6YXGS600 M10 71nm 720kgfcm R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 M12 128nm 1310kgfcm Depth of tapped holes in install...

Page 88: ...Symbol 417 IEC 5019 Example of grounding Ground symbol M4 Ground terminal R6YXG500 Use a ground cable with a conductor wire cross section of at least 2 0mm2 and a length within 1 meter CAUTION When th...

Page 89: ...HAZARDOUS SITUATIONS IF THE ConnECToR InSTALLATIon IS InAdEqUATE oR IF THERE ARE ConTACT FAILURES In THE pInS THE RoboT mAY mALFUnCTIon CAUSInG A HAZARdoUS SITUATIon REConFIRm THAT EACH ConnECToR IS S...

Page 90: ...600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 20 wires 6 3 tubes Robot models for custom specifications may have different wiring or tubing The...

Page 91: ...ons may have different wiring colors R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 Connector pins 1 to 20 can be used Pi...

Page 92: ...IRInG And TUbInG mIGHT THEn bE dAmAGEd CAUSInG mALFUnCTIon oF THE RoboT LAY oUT THE USER CAbLE ATTACHEd To THE d SUb ConnECToR FoR USER WIRInG And THE TUbE ATTACHEd To THE bULKHEAd UnIon FoR USER TUbI...

Page 93: ...moment of inertia around the R axis is 0 1kgm2 1 0kgfcmsec2 When the tip mass parameter is set to 2kg the robot can be operated by reducing the X Y and R axis acceleration coefficients to 62 as can be...

Page 94: ...AY AR 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 100 80 60 40 20 Ir kgm2 Jr kgfcmsec2 0 m 1 to 5kg Ir kgm2 Jr kgfcmsec2 90 0 0 0001 0 001 0 0002 0 002 0 0003 0 003 0 0004 0 004 0 0009 0 009 0 0008...

Page 95: ...g AX AY AR Ir kgm2 Jr kgfcmsec2 0 0 0 02 0 2 0 04 0 4 0 03 0 3 0 05 0 5 100 80 60 40 20 0 01 0 1 m 1 to 5kg Ir kgm2 Jr kgfcmsec2 90 0 0 0001 0 001 0 0002 0 002 0 0003 0 003 0 0004 0 004 0 0009 0 009 0...

Page 96: ...g AX AY AR Ir kgm2 Jr kgfcmsec2 0 0 0 01 0 1 0 02 0 2 0 04 0 4 0 03 0 3 0 05 0 5 100 80 60 40 20 m 1 to 5kg Ir kgm2 Jr kgfcmsec2 90 0 0 0001 0 001 0 0002 0 002 0 0003 0 003 0 0004 0 004 0 0009 0 009 0...

Page 97: ...90 100 0 0 005 0 01 0 015 0 02 0 025 0 03 0 035 0 04 0 045 0 05 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 0 45 0 5 Ir kgm2 Jr kgfcmsec2 m 1 to 5kg AX AY AR 50 55 60 65 70 75 80 85 90 95 100 0 0005 0 001 0...

Page 98: ...20 30 40 50 60 70 80 90 100 0 0 005 0 01 0 015 0 02 0 025 0 03 0 035 0 04 0 045 0 05 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 0 45 0 5 m 1 to 5kg AX AY AR 50 55 60 65 70 75 80 85 90 95 100 0 0005 0 001 0...

Page 99: ...R6YXGS300 R6YXGS400 m 1 to 5kg Ir kgm2 Jr kgfcmsec2 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 06 0 6 AZ 0 20 40 60 80 100 6 1 7 Acceleration coefficient vs moment of inertia R6YXG500 R6YXGS500...

Page 100: ...1 to 10kg Ir kgm2 Jr kgfcmsec2 0 0 0 05 0 5 0 1 1 0 0 15 1 5 0 2 2 0 0 25 2 5 0 3 3 0 100 80 60 40 20 AX AY AR 0 03 0 3 6 1 9 Acceleration coefficient vs moment of inertia R6YXGH600 m 1 to 20kg Ir kgm...

Page 101: ...to 20kg Ir kgm2 Jr kgfcmsec2 0 0 0 2 2 0 0 4 4 0 0 6 6 0 0 8 8 0 1 0 10 0 100 80 60 40 20 AX AY AR 0 02 0 2 6 1 11 Acceleration coefficient vs moment of inertia R6YXG900 R6YXG1000 R6YXGS900 R6YXGS100...

Page 102: ...article The equation for the moment of inertia for a material particle that has a rotation center such as shown in the Fig below is as follows This is used as an approximate equation when x is larger...

Page 103: ...low is given as follows Moment of inertia for prism a c b 1 2a J rabc a2 b2 12g W a2 b2 12g 4 I rabc a2 b2 12 m a2 b2 12 kgfcmsec2 kgm2 r Density kg m3 kg cm3 g Gravitational acceleration cm sec2 m Ma...

Page 104: ...D2 h 16g D2 4 h2 3 rpD2 h x2 4g Wx2 g I rpD2 h 16 D2 4 h2 3 rpD2 h x2 4 kgfcmsec2 m 4 D2 4 h2 3 mx2 kgm2 In the same manner the moment of inertia of a prism as shown in the Fig below is given by Momen...

Page 105: ...and its density is 0 0078kg cm3 Example of moment of inertia calculation The chuck and workpiece are at a position offset by 10 cm from the R axis by the stay 10cm 2cm 2cm R axis 1cm 1cm 2cm 2cm 4cm...

Page 106: ...msec2 3 Moment of inertia of workpiece Moment of inertia of workpiece 10cm 4cm R axis 2cm Ww rpD2 h 0 0078p 22 4 4 4 0 098 kgf The moment of inertia of the workpiece Jw is then calculated from Eq 5 Wh...

Page 107: ...UST HAvE AdEqUATE STREnGTH To WITHSTAnd THE LoAdS LISTEd In THE TAbLE bELoW IF THE STREnGTH IS InSUFFICIEnT THE ATTACHmEnT mAY bREAK dURInG RoboT opERATIon And FRAGmEnTS FLY oFF CAUSInG ACCIdEnTS oR I...

Page 108: ...l flange Robot Model Bolts used Number of bolts Tightening torque Hole diameter mm Nm kgfcm R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS300 R6YXGS400 M5 or more 2 or more 9 92 16 0 018 0 R...

Page 109: ...R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 Never loosen this bolt Never loosen this bolt 16 h7 0 018 0 30 h7 0 46 4 2 55 30 2 2 6 2 2 6 2 2 6 2 2 6 2 2 6 0 0 2 4 4...

Page 110: ...ration ARmax must be taken into account WARNING THE GRIppInG FoRCE oF THE End EFFECToR mUST HAvE A SUFFICIEnT EXTRA mARGIn oF STREnGTH To pREvEnT THE WoRKpIECE FRom ComInG LooSE And FLYInG oFF dURInG...

Page 111: ...vement range is set to the maximum level The movement range can be limited by shifting the X axis and Y axis mechanical stopper positions Follow the steps below to limit the movement range 7 1 R6YXGL2...

Page 112: ...ing position After changing the mechanical stopper positions set the soft limits to the values shown below Soft limits R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 Standard stopper Additional sto...

Page 113: ...per damper 2 90112 10J055 1 Bolt 3 90189 02J106 1 Nut Additional mechanical stopper parts in either one direction of Y axis plus or minus direction or both directions 1 4 KCY m2197 000 1 Stopper dampe...

Page 114: ...pposite side is also lost When installing the additional stopper in both directions of the X axis remove the standard stopper 6 Check that the movement range is limited 7 Go out of the safety enclosur...

Page 115: ...alled to absorb the shock when an impact occurs with the mechanical stopper so a certain amount of overrun occurs when the robot strikes the mechanical stopper Use caution and take overrun into accoun...

Page 116: ...plus direction R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 Values in parentheses apply to the R6YXGH600 R6YXG700 R6YXG800 R6YXG900 and R6YXG1000 132 87 12 43 107 121 147 152 Stopp...

Page 117: ...GS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 R6YXGS500 and R6YXGS600 only 87 1 0 7 1 3 2 43 12 12 Stopper position in X axis minus direction R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS9...

Page 118: ...direction R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 Y4 Y4 Y3 Y3 Y1 Y2 R6YXGS500 87 127 R6YXGS600 107 147 R6YXGS700 101 132 R6YXGS800 116 147 R6YXGS900 R6YXGS1000 121 152 Y3 Y4 R6YX...

Page 119: ...axis stopper position Soft limit pulses Working envelope 12 32768 9 43 145635 40 87 305834 84 107 maximum working envelope position for R6YXGS500 382294 105 132 maximum working envelope position for...

Page 120: ...changed by shifting the existing stopper position Follow the steps below to change the position The following describes how to change the X axis mechanical stopper position from the maximum working e...

Page 121: ...range is limited Check that the movement range is limited by the mechanical stopper that has been moved 9 Go out of the safety enclosure 10 Turn on the controller Check that no one is inside the safet...

Page 122: ...r position If the washers are needed again to move the robot using the eyebolts remove the washers from the stopper and then place them underneath the eyebolts R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6Y...

Page 123: ...site side is also lost 2 Install the washer 1 and bolt 2 Number of washers R6YXG500 R6YXG600 R6YXGS500 R6YXGS600 1 pc R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS700 R6YXGS800 R6YXGS900 R6YXG...

Page 124: ...Number of washers R6YXG500 R6YXG600 R6YXGS500 R6YXGS600 1 pc R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 2 pcs 5 Tighten to the specified torque The specifi...

Page 125: ...load maximum speed Robot model X axis Y axis R6YXG500 R6YXG600 R6YXGS500 R6YXGS600 9 16 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 9 16 Note Here deg is th...

Page 126: ...inus direction stopper Origin position after changed after Z axis absolute reset L2 12 15 18 At intervals of 3 mm above the Z axis origin reference New origin L 2 Additional plus direction stopper 4 S...

Page 127: ...nal mechanical stopper parts in Z axis minus direction 4 Kn3 m183A 100 1 Stopper block supplied bolt 8 1 1 Installing the minus direction stopper Follow the steps below to install the additional mecha...

Page 128: ...3 Absolute reset procedures in Chapter 3 9 Make a note of the Z axis machine reference value When the machine reference is within the allowable range between 30 and 70 proceed to step 15 When the mac...

Page 129: ...additional stoppers described previously 19 Check that the movement range is limited 20 Turn off the controller 21 Enter the safety enclosure 22 Reattach the Y axis arm cover 8 1 2 Installing the plu...

Page 130: ...r by the soft limit must be checked from the outside of the safety enclosure NOTE The Z axis may not stop at a position before the stopper due to the stopper part accuracy or position If this happens...

Page 131: ...position in Z axis plus direction 1 210mm 210 L1mm maximum movement position in Z axis plus direction 1 200mm 200 L1mm Stopper position in Z axis minus direction 1 8mm L2 8mm maximum movement position...

Page 132: ...e Working envelope in Z axis plus direction 16384 200 L1 L2 20 200 L1 L2 mm Working envelope in Z axis minus direction 819 1mm Z 300mm stroke type Soft limit pulses Working envelope Working envelope i...

Page 133: ...ine where the stopper is to be installed 6 Install the additional stopper Install the additional stopper 4 to the spline shaft by tightening the supplied bolts to the specified torque Tightening torqu...

Page 134: ...t within the allowable range 17 Go out of the safety enclosure 18 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 19 Set the soft limits See the...

Page 135: ...itional stopper and the ball screw where the stopper is to be installed 6 Install the additional stopper Install the additional stopper 1 to the ball screw by tightening the bolts 2 to the specified t...

Page 136: ...LoAd IS 0KG oR 1KG THE Z AXIS ACCELERATIon mUST bE REdUCEd AS SHoWn bELoW IF noT REdUCEd THE SERvICE LIFE oF THE Z AXIS dRIvE UnIT WILL dECREASE Tip load 0kg 1kg Z axis acceleration 90 80 8 2 3 Overru...

Page 137: ...envelope and their radii are shown in the figure CAUTION be careful not to allow the robot load to interfere with any part of the robot The Z axis spline may touch the base or the Y axis arm may touch...

Page 138: ...In particular do not attempt work in the area between the working envelope and mechanical stopper position Mechanical stoppers are installed at both the upper and lower ends of the movement range WARN...

Page 139: ...R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS300 R6YXGS400 8 4 1mm 1mm R6YXG500 R6YXG600 R6YXGS500 R6YXGS600 9 12 5mm 5mm R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS700 R6YXGS800 R6YXGS900...

Page 140: ...a stop signal is initiated when the robot arms are fully extended while 3 types of tip mass 33 66 and 100 of maximum payload are loaded 10 1 R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS30...

Page 141: ...40 50 60 70 80 90 100 Operation speed XY axis stopping time sec 5kg 1 6kg 3 3kg XY arm stopping rotation angle for R6YXGL350 and R6YXGS300 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 9...

Page 142: ...1 0 2 0 3 0 4 0 5 0 6 0 10 20 30 40 50 60 70 80 90 100 5kg 1 6kg 3 3kg XY arm stopping rotation angle for R6YXGL400 and R6YXGS400 0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90 100 Operati...

Page 143: ...60 70 80 90 100 Operation speed XY axis stopping time sec 5kg 1 6kg 3 3kg XY arm stopping rotation angle for R6YXGL500 Operation speed XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90 0 10...

Page 144: ...Y axis stopping time for R6YXGL600 Operation speed XY axis stopping time sec 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 XY arm stopping rotation angle for R6YXGL600 Operation sp...

Page 145: ...ed Z axis stopping time sec 0 0 01 0 02 0 03 0 04 0 05 0 06 0 10 20 30 40 50 60 70 80 90 100 5kg 1 6kg 3 3kg Z axis stopping distance for R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS300 an...

Page 146: ...3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 20 30 40 50 60 70 80 90 100 3 3kg XY axis 6 6kg XY axis 10kg XY axis XY arm stopping rotation angle for R6YXG500 and R6YXGS500 Operation speed XY arm stopping rotation a...

Page 147: ...Y axis 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 20 30 40 50 60 70 80 90 100 XY arm stopping rotation angle for R6YXG600 and R6YXGS600 Operation speed XY arm stopping rotation angle 0 10 20 30 40 50...

Page 148: ...d Z axis stopping time sec 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 10 20 30 40 50 60 70 80 90 100 10kg 3 3kg 6 6kg Z axis stopping distance for R6YXG500 and R6YXGS500 Z200 Operation speed Z axis stoppi...

Page 149: ...d Z axis stopping time sec 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 10 20 30 40 50 60 70 80 90 100 10kg 3 3kg 6 6kg Z axis stopping distance for R6YXG600 and R6YXGS600 Z200 Operation speed Z axis stoppi...

Page 150: ...opping time sec 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 10 20 30 40 50 60 70 80 90 100 10kg Z axis 3 3kg Z axis 6 6kg Z axis Stopping distance for R6YXG500 R6YXG600 R6YXGS500 and R6YXGS600 Z300 Operati...

Page 151: ...0 10 20 30 40 50 60 70 80 90 100 Operation speed XY axis stopping time sec 20kg XY axis 6 6kg XY axis 13 2kg XY axis XY arm stopping rotation angle for R6YXGH600 0 10 20 30 40 50 60 70 80 90 100 0 10...

Page 152: ...0 0 2 0 4 0 6 0 8 1 0 1 2 1 4 1 6 1 8 0 10 20 30 40 50 60 70 80 90 100 XY arm stopping rotation angle for R6YXG700 and R6YXGS700 Operation speed XY arm stopping rotation angle 20kg Y axis 6 6kg X axi...

Page 153: ...ed XY axis stopping time sec 20kg XY axis 6 6kg XY axis 13 2kg XY axis XY arm stopping rotation angle for R6YXG800 and R6YXGS800 Operation speed XY arm stopping rotation angle 6 6kg X axis 6 6kg Y axi...

Page 154: ...ed XY axis stopping time sec 20kg XY axis 6 6kg XY axis 13 2kg XY axis XY arm stopping rotation angle for R6YXG900 and R6YXGS900 Operation speed XY arm stopping rotation angle 6 6kg X axis 6 6kg Y axi...

Page 155: ...ed XY axis stopping time sec 6 6kg XY axis 13 2kg XY axis 20kg XY axis XY arm stopping rotation angle for R6YXG1000 and R6YXGS1000 Operation speed XY arm stopping rotation angle 6 6kg X axis 6 6kg Y a...

Page 156: ...5 0 06 0 07 0 08 0 09 0 1 0 10 20 30 40 50 60 70 80 90 100 Operation speed Z axis stopping time sec 20kg 6 6kg 13 2kg Z axis stopping distance for R6YXGH600 Z400 0 10 20 30 40 50 60 70 80 90 0 10 20 3...

Page 157: ...5 0 06 0 07 0 08 0 09 0 1 0 10 20 30 40 50 60 70 80 90 100 Operation speed Z axis stopping time sec 6 6kg 13 2kg 20kg Z axis stopping distance for R6YXG700 and R6YXGS700 Z200 0 10 20 30 40 50 60 70 80...

Page 158: ...7 0 08 0 09 0 1 0 10 20 30 40 50 60 70 80 90 100 Operation speed Z axis stopping time sec 6 6kg Z axis 13 2kg Z axis 20kg Z axis Z axis stopping distance for R6YXG700 and R6YXGS700 Z400 0 10 20 30 40...

Page 159: ...0 100 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 Operation speed Z axis stopping time sec 6 6kg 13 2kg 20kg Z axis stopping distance for R6YXGH600 Z200 R6YXG800 R6YXG900 and R6YXG1000 Z axis s...

Page 160: ...he machine harness Installing the user wiring and tubing newly Clamp the user wiring and tubing with minimal cable tie quantity so that the additional signal lines and tubes do not deviate If the clam...

Page 161: ...attached easily when replacing the spline R axis speed reduction unit or R axis motor Use an appropriate connector that passes through the spline with an inside diameter of 11 Example of how to pass t...

Page 162: ...T dRIvE UnIT CAUSInG bURn To pREvEnT SUCH TRoUbLES STRICTLY obSERvE THIS CAUTIon CAUTION In the user wiring tubing through spline type the cover cannot be detached unless the Z axis is moved down to t...

Page 163: ...4 pcs Y axis arm cover Boss inside Base front cover Base top face cover Base top face cover securing bolt Hex socket head bolt M4 length 8 4 pcs Base front cover mounting screw Bind machine screw M4 l...

Page 164: ...m cover mounting bolt Hex socket head bolt M3 length 20 2 pcs Y axis arm cover mounting bolt Cover is detached vertically Hex socket head bolt M3 length 8 2 pcs Z axis motor cover mounting screw Bind...

Page 165: ...2 pcs Z 400mm stroke type Y axis arm cover mounting bolt Cover is detached horizontally Hex socket head button bolt M3 length 8 6 pcs Z 200mm stroke type Hex socket head button bolt M3 length 8 8 pcs...

Page 166: ...length 10 4 pcs Base cover Y axis motor cover Y axis motor cover mounting screw Bind machine screw M3 length 8 4 pcs Y axis arm end cap mounting bolt Hex socket head bolt M3 length 16 4 pcs 2 Z axis m...

Page 167: ...ocket head button bolt M3 length 8 6 pcs Z 200mm stroke type Hex socket head button bolt M3 length 8 8 pcs Z 400mm stroke type Y axis arm cover Harness cover mounting screw Bind machine screw M4 lengt...

Page 168: ...rten the service life of the drive unit 1 Turn off the controller 2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operatin...

Page 169: ...2 Installation 2 111 Installing the extension shaft Extension shaft 1 Upper nut Bolt 2 6 Go out of the safety enclosure...

Page 170: ...re 4 Remove the bolt and then the stopper Removing the stopper Step 4 Stopper Bolt Urethane damper 5 Install the tool flange Align the orientation of the tapped hole for the tool flange set screw with...

Page 171: ...ible spline loads R R F1 F2 F2 The vertical distance from the Z axis origin position to the load must not exceed 200mm R mm 0 2 4 6 8 10 12 0 2 4 6 8 10 12 0 2 4 6 8 10 12 0 20 40 60 80 100 120 0 2 4...

Page 172: ...L500 R6YXGL600 0 2 4 6 8 10 12 0 2 4 6 8 10 12 F1 kgf F1 N F1 kgf F1 N The vertical distance from the Z axis origin position to the load must not exceed 350mm R6YXG500 R mm 0 2 4 6 8 10 0 2 4 6 8 10 0...

Page 173: ...0 25 15 5 10 20 30 0 100 300 200 F1 kgf F1 N F1 kgf F1 N F2 kgf F2 N The vertical distance from the Z axis origin position to the load must not exceed 450mm R6YXG800 R mm 0 50 100 150 0 50 100 0 5 10...

Page 174: ......

Page 175: ...Adjusting the machine reference value of the stroke end method Z axis 3 30 2 5 1 Stroke end method R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 R6YXGS300 R6YXGS400 3 30 2 5 2 Stroke end method R...

Page 176: ......

Page 177: ...the robot is being adjusted to prevent others from touching the controller switch programming box or operation panel If a safety enclosure has not yet been provided right after installation of the ro...

Page 178: ...n is correctly set When doing this check move the robot at the slowest possible speed The standard coordinate and point data must be reset when the origin position is changed make point data setting a...

Page 179: ...l 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 a...

Page 180: ...settings 3 4 0DFKLQH UHIHUHQFH GLVSOD RQ 3 VFUHHQ Machine reference display on PB screen PB In the screen illustration below a section of the screen shown by the marks is omitted R axis X axis Y axis...

Page 181: ...controller or operation panel 3 Display the ORIGIN RTN TRQ SENS screen on the PEBX operation return to origin D LV D LV 5 D LV EVROXWH UHVHW PRGH VFUHHQ 6WHS 4 Select an axis for absolute reset X axi...

Page 182: ...ge the next absolute reset may not be performed correctly In this case make the adjustment while referring to 2 Adjusting the origin in this Chapter 2 3 2 Stroke end method Z axis with YRCX controller...

Page 183: ...ne reference are displayed on the oRIGIn RTn TRq SEnS screen Check that the status is oK and that the machine reference value is within the absolute reset tolerable range 25 to 75 0DFKLQH UHIHUHQFH YD...

Page 184: ...eration panel 3 Enter the manual mode using the PB screen 4 Select RST ABS Press the key to select RST ABS 5 Select an axis for absolute reset X axis M1 Y axis M2 R axis M4 To select the X axis press...

Page 185: ...performed In this case make the necessary adjustments while referring to 2 Adjusting the origin in this chapter 2 3 4 Stroke end method Z axis with YRC controller WARNING SERIoUS InJURY mAY oCCUR FRom...

Page 186: ...250 R6YXGL350 R6YXGL400 Performing the absolute reset of the Z axis Step 6 R6YXGL500 and R6YXGL600 the recommended range is between 30 and 70 Machine reference value Step 8 CAUTION When adjusting the...

Page 187: ...he 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 refe...

Page 188: ...with the hex nut Secure the X axis origin sensor with the hex nut Tightening torque 5nm 50kgfcm Tool KAnon nakamura mfg Co Ltd Torque wrench n190SpK 13 12 Turn on the controller Check that no one is i...

Page 189: ...120 The following describes how to change the X axis origin position for example to a position 90 counterclockwise Prepare the tools listed below Hex wrench set Torque wrench phillips screwdriver Hex...

Page 190: ...is 0 2 to 0 8 mm while referring to the n Adjusting the X axis machine reference value described previously CAUTION Pay special attention so that the sensor does not collide with the dog Tightening th...

Page 191: ...ee 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...

Page 192: ...t Tightening torque 5nm 50kgfcm Tool KAnon nakamura mfg Co Ltd Torque wrench n190SpK 13 Moving the Y axis origin sensor Step 9 11 Y axis origin sensor Hex nut 12 Turn on the controller Check that no o...

Page 193: ...er 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 a...

Page 194: ...g torque 5nm 50kgfcm Tool KAnon nakamura mfg Co Ltd Torque wrench n190SpK 13 12 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 13 Perform the a...

Page 195: ...e 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 be...

Page 196: ...e bolts Secure the X axis origin sensor stay with the bolts 13 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 14 Perform the absolute reset Per...

Page 197: ...6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 and R6YXGS1000 the X axis origin position can be changed in the same manner as the standard model However the cover removal work may involve risk So contact your...

Page 198: ...e bolts 2 pcs that secure the X axis origin stay 8 Remove the X axis origin stay 9 Remove the dog and hex nut Remove the dog through the enlarged hole At this time remove the dog using the hex bit and...

Page 199: ...the absolute reset has been completed read the machine reference value displayed on the pbEX pb 2 If the machine reference value is in the range between 40 and 60 recommended range then the machine re...

Page 200: ...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 o...

Page 201: ...d on the pbEX pb 2 If the machine reference value is in the range between 40 and 60 recommended range then the machine reference value has been completely adjusted 3 If it is outside the recommended r...

Page 202: ...perform the absolute reset see 2 3 Absolute reset procedures 3 Place a sign indicating that the robot is being adjusted Place a sign indicating that the robot is being adjusted to keep others from ope...

Page 203: ...the machine reference value 1 After the absolute reset has been completed read the machine reference value displayed on the pbEX pb 2 When the machine reference value is in the range between 40 and 6...

Page 204: ...e 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 controll...

Page 205: ...controller Check that no one is inside the safety enclosure and then turn on the controller 14 Perform the absolute reset Perform the absolute reset from outside the safety enclosure 15 Check the mach...

Page 206: ...nside the safety enclosure and then turn on the controller 2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the c...

Page 207: ...ed at the center of the hole and then put on the brake Step 10 13 Adjusting the Z axis machine reference value Z axis mechanical stopper Ball screw shaft Urethane damper Hole Mark Bolt L 11 Put a mark...

Page 208: ...ce range reattach the cover 2 5 2 Stroke end method R6YXG500 R6YXG600 R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 R6YXGS500 R6YXGS600 R6YXGS700 R6YXGS800 R6YXGS900 R6YXGS1000 1 Turn on the controll...

Page 209: ...wer end damper insert a flat blade screwdriver into the portion between the damper and holder and raise the damper by leverage from Step 9 11 Adjusting the Z axis machine reference M3 12 Bolt Ball scr...

Page 210: ...14 Go out of the safety enclosure 15 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 16 Perform the absolute reset of the Z axis NOTE For detail...

Page 211: ...elow to set the soft limits 1 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 2 Press the emergency stop button press the emergency stop button...

Page 212: ...t the mechanical stopper and the operating point is used at the edge of the movement range Set the soft limit to the inner side of the mechanical stopper with an ample safety margin 3 4 Relation betwe...

Page 213: ...e soft limits while referring to 3 Setting the soft limits 3 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the c...

Page 214: ...icating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel 4 Enter the safety enclosure while holding the P...

Page 215: ...ep 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 ax...

Page 216: ...obot in the arm posture as shown in the Fig on the right and then remove the plug bolt Removing the bolt Step 5 Bolt 6 Secure the sleeve 1 with the bolt 3 Position the robot arms so that you can easil...

Page 217: ...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 le...

Page 218: ...LTY opERATIon And HAZARDOUS SITUATIONS 1 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 2 Move the robot to the 0 pulse position NOTE For detai...

Page 219: ...sitions End effector End effector R Z Y X Sticker affixing positions Wall mount model Wall mount inverse model Only the affixing positions different from the standard model are shown X Change the stic...

Page 220: ......

Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...

Page 222: ......

Page 223: ...To check the operation after inspection refer to 4 5 1 Trial Operation in Chapter Safety Instructions of this manual NOTE For precautions on handling the controller refer to the omRon Robot Controlle...

Page 224: ...on of grease to Z axis spline and Z axis ball screw 3 Remove the old grease with a cloth rag and apply Alvania grease S2 Showa Shell Z axis ball screw and ball spline Check for play Inspection with th...

Page 225: ...4 3 Bolt tightening torque Bolt size Tightening torque kgfcm Tightening torque Nm M3 button head bolt 14 1 4 M4 set screw 20 2 0 M3 20 2 0 M4 46 4 5 M5 92 9 0 M6 156 15 3 M8 380 37 M10 459 45 0 M12 1...

Page 226: ......

Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...

Page 228: ......

Page 229: ...riodically Since the XG series robots listed below use long life harmonic grease it is not necessary to replace the harmonic grease WARNING onLY AUTHoRIZEd EnGInEERS WHo RECEIvEd THE RoboT TRAInInG Co...

Page 230: ...earlier Replacement period 8 4 108 n 60 h d n years where n Number of axis movements per minute Average turn per axis movement N Speed reduction ratio h Operation time per day D Operation days per yea...

Page 231: ...ncreasing the robot operating speed 6 1 1 1 Increasing speed by arch motion 6 1 1 2 Increasing the speed with the WEIGHT statement 6 3 1 3 Increasing the speed by the tolerance parameter 6 4 1 4 Incre...

Page 232: ......

Page 233: ...3 P4 2 Arch motion Using default arch position 2000 pulses From point P1 to P2 movE p p2 Z 0 Axis parameters Arch position m1 X axis arch position 2000 pulses m2 Y axis arch position 2000 pulses m3 Z...

Page 234: ...program Example From point P1 to P2 and then to P3 ARCH 1 10000 X axis arch position pulses ARCH 2 20000 Y axis arch position pulses ARCH 3 20000 Z axis arch position pulses ARCH 4 20000 R axis arch p...

Page 235: ...GHT 10 Changes the axis tip weight parameter to 10kg with workpiece movE p p3 Z 0 In the above program the acceleration can be set to a higher level by reducing the axis tip weight parameter to 5kg wh...

Page 236: ...lerance pulses ToLE 4 2048 R axis tolerance pulses movE p p2 ToLE 1 80 Returns the tolerance to the default value ToLE 2 80 ToLE 3 80 ToLE 4 80 movE p p3 When P2 is an escape point and does not need t...

Page 237: ...osing OUT effective position When all of the X Y Z and R axes enter the oUT effective position 10000 pulses prior to p2 the chuck starts closing by setting the OUT effective position larger the chuck...

Page 238: ......

Page 239: ...Chapter 7 Torque limit designated Z axis pushing action Contents 1 Torque limit designated Z axis pushing action 7 1...

Page 240: ......

Page 241: ...series programming manual or YRC series programming manual R6YXGL250 R6YXGL350 R6YXGL400 R6YXGL500 R6YXGL600 Tip Load Weight kg Torque Limit Value Pushing Force N Torque Offset Speed Limit Value R6YXG...

Page 242: ...g Force N Torque Offset Speed Limit Value R6YXGH600 R6YXG700 R6YXG800 R6YXG900 R6YXG1000 20kg 50 to 100 200 to 400 21 34 30 26 24 19kg 50 to 100 200 to 400 21 33 29 26 23 18kg 50 to 100 200 to 400 20...

Page 243: ...2 28 25 23 16kg 50 to 100 200 to 400 19 32 28 25 22 15kg 50 to 100 200 to 400 18 31 27 24 22 14kg 40 to 100 160 to 400 16 30 27 24 21 13kg 40 to 100 160 to 400 15 30 26 23 21 12kg 40 to 100 160 to 400...

Page 244: ......

Page 245: ...6YXG1000 8 39 1 2 13 R6YXGSW300 Wall mount model 8 41 1 2 14 R6YXGSU300 Wall mount inverse model 8 44 1 2 15 R6YXGSW400 Wall mount model 8 47 1 2 16 R6YXGSU400 Wall mount inverse model 8 50 1 2 17 R6Y...

Page 246: ......

Page 247: ...cations 5kg option specifications 4kg 3 R axis tolerable moment of inertia 2 0 05kgm2 0 5kgfcms2 User wiring 0 2sq 10 cables User tubing 4 3 Travel limit 1 Soft limit 2 mechanical stopper XYZ axes Opt...

Page 248: ...R6YACXGLS Robot cable 3 5m option 5m 10m Weight 21 0kg 4 22 0kg 4 1 At constant ambient temperature XY 2 There are limits to acceleration coefficient settings 3 Option specifications Tool flange moun...

Page 249: ...0W Z axis 200W R axis 200W Maximum speed XY resultant 7 6m s 8 4m s Z axis 2 3m s 200mm stroke Z axis 1 7m s 300mm stroke Z axis R axis 1700 s Repeatability 1 XY axes 0 01mm Z axis 0 01mm R axis 0 004...

Page 250: ...R axis 0 004 Payload 20kg R axis tolerable moment of inertia 2 1 0kgm2 10 0kgfcms2 User wiring 0 2sq 20 cables User tubing 6 3 Travel limit 1 Soft limit 2 mechanical stopper XYZ axes Robot cable 3 5m...

Page 251: ...e model Repeatability 1 XY axes 0 01mm Z axis 0 01mm R axis 0 004 Payload Standard specifications 5kg option specifications 4kg 3 10kg R axis tolerable moment of inertia 2 0 05kgm2 0 5kgfcms2 0 30kgm2...

Page 252: ...04 Payload 20kg R axis tolerable moment of inertia 2 1 0kgm2 10 0kgfcms2 User wiring 0 2sq 20 cables User tubing 6 3 Travel limit 1 Soft limit 2 mechanical stopper XYZ axes Robot cable 3 5m option 5m...

Page 253: ...o w d i a m e t e r 1 1 Cross section A A Scale 1 1 The weight of the tool attached here should be added to the tip mass Tapped hole for user wiring 6 M3 0 5 Depth 6 140 60 60 104 142 93 62 88 50 30...

Page 254: ...Scale 2 3 E 2 2 6 2 2 6 2 2 6 2 2 6 2 2 6 0 0 2 4 4 5 through hole 4 H7 0 0 012 through hole 90 H o l l o w d i a m e t e r 1 1 7 0 0 2 View of E R6YXGL250 Tool flange mount type D F 0 134 5 2 149 181...

Page 255: ...be changed to the 119 position Working envelope 117 Y axis additional stopper The Y axis mechanical stopper position can be changed to the 127 position Working envelope 125 Z axis upper end additiona...

Page 256: ...ositions x and y X mm X 0 30 60 90 120 140 Y 144 65 0 0 0 0 0 120 80 0 0 0 0 0 90 70 0 0 0 0 0 60 50 70 0 0 0 0 30 10 50 0 60 0 0 0 0 25 50 0 0 0 30 10 10 20 40 80 100 60 50 15 15 45 95 95 90 70 40 5...

Page 257: ...ion B B A A 93 30 62 50 88 138 Base size 104 60 60 140 142 90 10 10 50 70 20 39 39 Tapped hole for user wiring 6 M3 0 5 Depth 6 The weight of the tool attached here should be added to the tip mass Use...

Page 258: ...134 5 2 149 181 780 5 150 15 5 150 5 27 F 0 134 5 2 149 181 0 150 15 5 D Detailed drawing D Scale 2 3 View of E 30 h7 0 021 0 55 2 4 35 E 2 2 6 2 2 6 2 2 6 2 2 6 2 2 6 0 0 2 90 H o l l o w d i a m e t...

Page 259: ...n be changed to the 119 position Working envelope 117 Y axis additional stopper The Y axis mechanical stopper position can be changed to the 127 position Working envelope 125 Z axis upper end addition...

Page 260: ...rm positions x and y X mm X 0 30 60 90 120 140 Y 144 0 0 0 0 0 0 120 0 0 0 0 0 0 90 40 0 0 0 0 0 60 40 30 0 0 0 0 30 30 25 0 0 0 0 0 0 0 0 30 65 60 30 30 10 0 30 60 60 60 40 25 0 5 30 50 90 40 60 60 5...

Page 261: ...57 Z axis upper end mechanical stopper position Z axis rises by 4mm during return to origin B B A A 93 30 62 50 88 138 Base size 104 60 60 140 142 90 10 10 50 70 20 39 39 User tubing 1 4 black User t...

Page 262: ...5 F D 0 134 5 2 149 181 0 150 15 5 D Detailed drawing D Scale 2 3 View of E 30 h7 0 021 0 55 2 4 35 E 2 2 6 2 2 6 2 2 6 2 2 6 2 2 6 0 0 2 90 H o l l o w d i a m e t e r 1 1 7 0 0 2 0 0 012 through hol...

Page 263: ...pper position can be changed to the 119 position Working envelope 117 Y axis additional stopper The Y axis mechanical stopper position can be changed to the 127 position Working envelope 125 Z axis up...

Page 264: ...tated in the table below the sign of which is inverted Harness projection amount Y to the base rear side and positions X and Z with respect to the arm positions x and y X mm X 0 30 60 90 120 140 Y Y 0...

Page 265: ...3 4 blue 7 8 D sub connector for user wiring No 1 to 10 usable 4 9 M8 bolt for installation 4 bolts used 138 Base size 129 Maximum 315 during arm rotation 633 Maximum 673 during arm rotation Option U...

Page 266: ...6 2 2 6 2 2 6 0 0 2 4 H7 0 0 012 0 147 5 2 147 5 2 162 194 793 5 150 2 5 150 5 27 F D R6YXGL500 Tool flange mount type Tool flange mount type 4 4 5 through hole Scale 2 3 D Option User wiring tubing t...

Page 267: ...pper position can be changed to the 119 position Working envelope 117 Y axis additional stopper The Y axis mechanical stopper position can be changed to the 127 position Working envelope 125 Z axis up...

Page 268: ...t to the arm positions x and y X mm X 0 30 60 90 120 140 Y 144 0 0 0 0 0 0 120 0 0 0 0 0 0 90 0 0 0 0 0 0 60 0 0 0 0 0 0 30 0 0 0 0 0 0 0 0 0 0 0 0 0 30 0 0 0 0 10 10 60 0 0 20 20 0 0 90 0 0 30 50 10...

Page 269: ...wiring No 1 to 10 usable 138 Base size 4 9 M8 bolt for installation 4 bolts used 129 Maximum 355 during arm rotation 633 Maximum 673 during arm rotation Standard type Z axis lower end mechanical stop...

Page 270: ...021 0 55 35 E 90 2 2 6 2 2 6 7 0 0 2 2 2 6 2 2 6 2 2 6 0 0 2 4 H7 0 0 012 0 147 5 2 162 194 793 5 150 2 5 150 5 27 F D D Tool flange mount type 4 4 5 through hole H o l l o w d i a m e t e r 1 1 View...

Page 271: ...pper position can be changed to the 119 position Working envelope 117 Y axis additional stopper The Y axis mechanical stopper position can be changed to the 127 position Working envelope 125 Z axis up...

Page 272: ...the arm positions x and y X mm X 0 30 60 90 120 140 Y 144 0 0 0 0 0 0 120 0 0 0 0 0 0 90 0 0 0 0 0 0 60 0 0 0 0 0 0 30 0 0 0 0 0 0 0 0 0 0 0 0 0 30 0 0 0 0 0 0 60 0 0 0 0 120 70 90 0 0 30 100 130 100...

Page 273: ...ss section A A M16x2 Depth 20 Bottom of spline 4 M4x0 7 through hole for tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm...

Page 274: ...ed system Working envelope of right handed system X axis mechanical stopper position 132 Y axis mechanical stopper position 147 User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue M4 ground...

Page 275: ...r tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm Hollow diameter 14 W i d t h a c r o s s f l a t 1 9 Cross section A A...

Page 276: ...bing 2 6 red User tubing 3 6 blue M4 ground terminal D sub connector for user wiring No 1 to 20 usable Working envelope of left handed system Working envelope of right handed system X axis mechanical...

Page 277: ...hole for tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm Hollow diameter 18 Width across flat 24 Cross section A A Maxi...

Page 278: ...Specifications 8 32 R6YXGH600 User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue M4 ground terminal D sub connector for user wiring No 1 to 20 usable Working envelope of left handed syste...

Page 279: ...hole for tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm Hollow diameter 18 Width across flat 24 Cross section A A Maxi...

Page 280: ...Working envelope of right handed system X axis mechanical stopper position 132 Y axis mechanical stopper position 152 R6YXG700 User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue M4 ground...

Page 281: ...hole for tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm Hollow diameter 18 Width across flat 24 Cross section A A Z400...

Page 282: ...bing 2 6 red User tubing 3 6 blue M4 ground terminal D sub connector for user wiring No 1 to 20 usable Working envelope of left handed system Working envelope of right handed system X axis mechanical...

Page 283: ...hole for tool attachment Four M4x10L binding screws are supplied Do not screw the screws in deeper than 10 mm from bottom surface of arm Hollow diameter 18 Width across flat 24 Cross section A A Z400...

Page 284: ...bing 2 6 red User tubing 3 6 blue M4 ground terminal D sub connector for user wiring No 1 to 20 usable Working envelope of left handed system Working envelope of right handed system X axis mechanical...

Page 285: ...m rotation User tool installation range Flat surface has no phase relation to R axis origin Z axis lower end mechanical stopper position 400 Z axis stroke 200 Z axis stroke Z axis return to origin 6mm...

Page 286: ...ubing 2 6 red User tubing 3 6 blue M4 ground terminal D sub connector for user wiring No 1 to 20 usable Working envelope of left handed system Working envelope of right handed system X axis mechanical...

Page 287: ...sub connector for user wiring No 1 to 10 usable D sub connector for user wiring No 1 to 10 usable User tubing 3 4 blue User tubing 2 4 red User tubing 1 4 black Z axis lower end mechanical stopper pos...

Page 288: ...0 14 5 35 59 72 148 187 5 381 Maximum 410 during arm rotation 42 47 57 0 16 5 46 94 51 4 150 4 Z axis upper end mechanical stopper position Z axis rises 4mm during return to origin 131 150 150 56 381...

Page 289: ...ard Tool flange mount type Option Z axis upper end additional stopper The Z axis origin position can be lowered 12mm 15mm 18mm etc at intervals of 3mm Z axis lower end additional stopper The lower end...

Page 290: ...ubing 1 4 black User tubing 2 4 red User tubing 3 4 blue M4 ground terminal D sub connector for user wiring No 1 to 10 usable User tubing 2 4 red User tubing 1 4 black User tubing 3 4 blue 20 70 50 10...

Page 291: ...8 Specifications 8 45 R6YXGSU300 Working envelope X axis mechanical stopper position 122 Y axis mechanical stopper position 132 1 3 0 1 2 0 6 4 240 64 1 2 0 1 3 0 R127 R300 R150...

Page 292: ...0 4 150 4 Z axis upper end mechanical stopper position Z axis lower end mechanical stopper position Z axis lowers 4mm during return to origin 146 2 132 A View of A 2 2 6 2 2 6 7 0 0 2 90 2 2 6 2 2 6 2...

Page 293: ...150 56 381 90 D sub connector for user wiring No 1 to 10 usable D sub connector for user wiring No 1 to 10 usable User tubing 3 4 blue User tubing 2 4 red User tubing 1 4 black Z axis lower end mechan...

Page 294: ...in 131 250 150 56 381 Z axis lower end mechanical stopper position 47 98 146 2 30h7 0 0 021 10 46 2 35 4 55 View of A Scale 1 2 Hollow diameter 11 2 2 6 2 2 6 90 2 2 6 2 2 6 7 0 0 2 4H7 0 012 0 throug...

Page 295: ...6 Standard Tool flange mount type Option Z axis upper end additional stopper The Z axis origin position can be lowered 12mm 15mm 18mm etc at intervals of 3mm Z axis lower end additional stopper The lo...

Page 296: ...1 5 46 5 57 100 142 2 30 4 4 16h7 0 0 018 35 Hollow diameter 11 User tool installation range Z axis upper end mechanical stopper position Z axis lower end mechanical stopper position Z axis lowers 4mm...

Page 297: ...8 Specifications 8 51 R6YXGSU400 240 R156 125 1 4 4 1 2 5 125 1 4 4 1 2 5 R 2 0 5 R400 R 1 5 0 Working envelope X axis mechanical stopper position 127 Y axis mechanical stopper position 146...

Page 298: ...0 4 Z axis lower end mechanical stopper position Z axis lowers 4mm during return to origin 150 4 146 2 Z axis upper end mechanical stopper position 132 A 30h7 0 0 021 35 46 2 4 55 2 2 6 2 2 6 7 0 0 2...

Page 299: ...3 6 Blue M4 ground terminal 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the screws in deeper than 10mm from bottom surface of arm The weight of the...

Page 300: ...R 3 0 0 R 5 0 0 1 0 5 R248 1 0 5 1 2 5 R300 R 3 0 0 110 8H7 through hole Working envelope of right handed system X axis mechanical stopper position 107 Y axis mechanical stopper position 127 Working e...

Page 301: ...arm The weight of the tool attached here should be added to the tip mass Z axis upper end mechanical stopper position Flat surface has no phase relation to R axis origin User tool installation range...

Page 302: ...0 0 R 5 0 0 1 0 5 R248 1 0 5 1 2 5 R300 R 3 0 0 110 R6YXGSU500 8H7 through hole 200 base size Working envelope of left handed system Working envelope of right handed system X axis mechanical stopper...

Page 303: ...nector for user wiring No 1 to 20 usable M4 ground terminal Z200mm stroke Z300mm stroke 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the screws in dee...

Page 304: ...1 3 0 1 3 0 R300 R180 145 R 3 0 0 1 4 5 2 R 50 8H7 8H7 through hole Working envelope of left handed system Working envelope of right handed system X axis mechanical stopper position 132 Y axis mechani...

Page 305: ...rm The weight of the tool attached here should be added to the tip mass Z axis upper end mechanical stopper position Z axis lower end mechanical stopper position Z axis lowers by 8mm during return to...

Page 306: ...0 1 3 0 R300 145 R 3 0 0 1 4 5 R600 1 3 0 1 3 0 R300 R180 145 R 3 0 0 1 4 5 8H7 through hole Working envelope of left handed system Working envelope of right handed system X axis mechanical stopper po...

Page 307: ...2 6 Red User tubing 3 6 Blue D sub connector for user wiring No 1 to 20 usable M4 ground terminal 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the scr...

Page 308: ...0 130 R700 1 3 0 1 3 0 R310 R400 R 4 0 0 130 1 3 0 8H7 through hole 245 base size 6 14 M12 bolt for installation 6 bolts used Working envelope of left handed system Working envelope of right handed s...

Page 309: ...ace of arm The weight of the tool attached here should be added to the tip mass User tool installation range Flat surface has no phase relation to R axis origin Cross section A A Hollow diameter 18 Wi...

Page 310: ...R 4 0 0 130 R310 R 7 0 0 1 3 0 R 4 0 0 R400 1 3 0 R310 130 1 3 0 6 14 M12 bolt for installation 6 bolts used 245 base size 8H7 through hole Working envelope of left handed system Working envelope of...

Page 311: ...D sub connector for user wiring No 1 to 20 usable M4 ground terminal Z200mm stroke Z400mm stroke 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the scr...

Page 312: ...4 5 145 R 8 0 0 1 3 0 1 3 0 R241 R400 R400 1 4 5 145 8H7 through hole 245 base size 6 14 M12 bolt for installation 6 bolts used Working envelope of left handed system Working envelope of right handed...

Page 313: ...ace of arm The weight of the tool attached here should be added to the tip mass Cross section A A Hollow diameter 18 Width across flats 24 Flat surface has no phase relation to R axis origin User tool...

Page 314: ...5 1 4 5 R800 1 3 0 1 3 0 R241 R400 R 4 0 0 1 4 5 145 R6YXGSU800 6 14 M12 bolt for installation 6 bolts used 8H7 through hole 245 base size Working envelope of left handed system Working envelope of ri...

Page 315: ...D sub connector for user wiring No 1 to 20 usable M4 ground terminal Z200mm stroke Z400mm stroke 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the scr...

Page 316: ...150 1 5 0 R900 R253 R400 1 3 0 1 3 0 1 5 0 R400 150 8H7 through hole 245 base size 6 14 M12 bolt for installation 6 bolts used Working envelope of left handed system Working envelope of right handed s...

Page 317: ...ace of arm The weight of the tool attached here should be added to the tip mass Flat surface has no phase relation to R axis origin User tool installation range Cross section A A Hollow diameter 18 Wi...

Page 318: ...150 R253 R 9 0 0 1 3 0 1 3 0 R 4 0 0 R400 1 5 0 150 R6YXGSU900 8H7 through hole 245 base size 6 14 M12 bolt for installation 6 bolts used Working envelope of left handed system Working envelope of ri...

Page 319: ...e D sub connector for user wiring No 1 to 20 usable M4 ground terminal Z200mm stroke Z400mm stroke 4 M4 0 7 through hole for tool attachment Four M4 10L binding screws are supplied Do not screw the sc...

Page 320: ...1 5 0 R1000 1 3 0 1 3 0 1 5 0 R324 R400 R 4 0 0 150 8H7 through hole 245 base size 6 14 M12 bolt for installation 6 bolts used Working envelope of left handed system Working envelope of right handed...

Page 321: ...face of arm The weight of the tool attached here should be added to the tip mass Flat surface has no phase relation to R axis origin User tool installation range Cross section A A Hollow diameter 18 W...

Page 322: ...0 150 R1000 1 3 0 1 3 0 R324 1 5 0 R400 R 4 0 0 150 R6YXGSU1000 8H7 through hole 6 14 M12 bolt for installation 6 bolts used 245 base size Working envelope of left handed system Working envelope of ri...

Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...

Page 324: ...Red 0 15sq S3 4 22 Bright green 2 Black Twisted pair R1 5 23 Pink 2 Red 0 15sq R2 6 24 Pink 2 Black Twisted pair DG 7 25 Gray 0 3sq FG FG 1 18 Gray 2 Red 0 15sq 36 Gray 2 Black 0 15sq HLIM 10 Gray 0...

Page 325: ...2 Black Twisted pair S1 3 21 Bright green 2 Red 0 15sq S3 4 22 Bright green 2 Black Twisted pair R1 5 23 Pink 2 Red 0 15sq R2 6 24 Pink 2 Black Twisted pair DG 7 25 Gray 0 3sq FG FG 1 18 Gray 2 Red 0...

Page 326: ...3 Red 0 2mm2 S3 4 4 Gray Twisted pair R1 5 5 Orange 0 2mm2 R2 6 6 Gray Twisted pair DG 7 7 Gray Shield Y axis motor U YM 1 1 YM Brown 0 75mm2 v 2 2 Red W 3 3 Orange Z axis motor U ZM 1 1 ZM Blue 0 75...

Page 327: ...air R1 5 5 Orange 0 2mm2 R2 6 6 Gray Twisted pair DG 7 7 Green Shield Y axis motor U YM 1 1 YM Brown 0 75mm2 v 2 2 Red W 3 3 Orange Z axis motor U ZM 1 1 ZM Blue 0 75mm2 v 2 2 Purple W 3 3 Gray R axis...

Page 328: ...e Black 2 S1 Brown 3 S3 Brown Black 4 R1 Red 5 R2 Black 6 SHIELd Black 7 Motor U Red 1 XM YM ZM RM v White 2 W Black 3 pE Yellow Green 1 Round terminal Brake bK Yellow 1 ZbK Z axis motor only bK Blue...

Page 329: ...FRGH The following table outlines the changes made to the manual during each revision Revision code Date Description 01 December 2012 Original production 02 November 2013 Information regarding new mo...

Page 330: ...Cat No I155E EN 03A Note Specifications subject to change without notice Authorized Distributor Printed in Europe...

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