Omron R6YXG500, Installation Manual

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9. Working envelope and mechanical stopper positions for maximum working envelope 2-79
10. Stopping time and stopping distance at emergency stop 2-82
10.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 … 2-82
10.2 R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 ………………………………… 2-88
10.3 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 …………………………… 2-93
11. Installing the user wiring and tubing newly 2-102
12. Passing the wiring and tubing in the user wiring/tubing through spline type 2-103
13. Detaching or attaching the covers 2-104
14. Installing the extension shaft (for user wiring/tubing through spline type) 2-110
15. Installing the tool flange 2-112
16. Permissible spline load 2-113
Chapter 3 Robot settings
1. Overview 3-1
2. Adjusting the origin 3-2
2.1 Absolute reset method ……………………………………………………………………… 3-2
2.1.1 Sensor method (X-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 Stroke end method (Z-axis) with YRCX controller …………………………………………………… 3-6
2.3.3 Sensor method (X-axis, Y-axis and R-axis) with YRC controller ……………………………………… 3-8
2.3.4 Stroke end method (Z-axis) with YRC controller ……………………………………………………… 3-9
2.4 Changing the origin position and adjusting the machine reference ………………… 3-11
2.4.1 Sensor method (R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) …3-11
2.4.2 Sensor method (R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000)
(R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) ……………3-19
2.5 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 (R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000)
(R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000) ……………3-32