Omron R6YXG500, Installation Manual

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3. Setting the soft limits 3-35
3.1 Setting the X-axis and Y-axis soft limits ……………………………………………… 3-35
3.2 Setting the Z-axis soft limits …………………………………………………………… 3-36
3.3 Setting the R-axis soft limit …………………………………………………………… 3-36
3.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses …………………………… 3-36
4. Setting the standard coordinates 3-37
4.1 Standard coordinate setting using a standard coordinate setup jig ………………… 3-38
4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ……3-38
4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
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 4-1
2. List of inspection items 4-2
Chapter 5 Harmonic drive replacement period
1. Overview 5-1
2. Replacement period 5-2
Chapter 6 Increasing the robot operating speed
1. Increasing 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 Increasing the speed by the OUT effective position parameter ………………………… 6-5
Chapter 7 Torque limit designated Z-axis pushing action
1. Torque limit designated Z-axis pushing action 7-1