Omron R6YXG500, Installation Manual

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Chapter 2 Installation
Contents
1. Robot installation conditions 2-1
1.1 Installation environments 2-1
1.2 Installation 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 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 2-16
2.3.3 Moving the R6YXGS300 and R6YXGS400
2-18
2.3.4 Moving the R6YXGS500 and R6YXGS600 2-19
2.3.5 Moving the R6YXGS700, R6YXGS800, R6YXGS900 and R6YXGS1000 2-24
2.4 Installing the robot 2-29
3. Protective bonding 2-30
4. Robot cable connection 2-31
5. User wiring and user tubing 2-32
6. Attaching the end effector 2-35
6.1 R-axis tolerable moment of inertia and acceleration coefficient 2-35
6.1.1 Acceleration coefficient vs. moment of inertia (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 coefficient vs. moment of inertia (R6YXGL500) 2-39
6.1.5 Acceleration coefficient vs. moment of inertia (R6YXGL600) 2-40
6.1.6 Acceleration coefficient vs. moment of inertia
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400) 2-41
6.1.7 Acceleration coefficient vs. moment of inertia (R6YXG500, R6YXGS500) 2-41
6.1.8 Acceleration coefficient vs. moment of inertia (R6YXG600, R6YXGS600) 2-42
6.1.9 Acceleration coefficient vs. moment of inertia (R6YXGH600) 2-42
6.1.10 Acceleration coefficient vs. moment of inertia (R6YXG700, R6YXG800, R6YXGS700, R6YXGS800) 2-43
6.1.11 Acceleration coefficient vs. moment of inertia (R6YXG900, R6YXG1000, R6YXGS900, R6YXGS1000) 2-43
6.2 Equation for moment of inertia calculation 2-44
6.3 Example of moment of inertia calculation 2-47
6.4 Attaching the end effector 2-49
6.5 Gripping force of end effector 2-52