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Omron R6YXGLC250 Installation Manual Download Page 134

Revision history

A manual revision code appears as a suffix to the catalog number on the front cover manual.

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The following table outlines the changes made to the manual during each revision.

Revision code

Date

Description

01

October 2013

Original production

02

July 2016

YRCX controller was added

02A

August 2019

Small corrections were applied

Summary of Contents for R6YXGLC250

Page 1: ...ZX T Series Cat No I158E EN 02A R6Y XGC XGP series INSTALLATION MANUAL SCARA Robots XG Series...

Page 2: ......

Page 3: ...recautions for 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 oper...

Page 4: ...king the product 2 5 2 2 Moving the robot 2 9 2 2 1 R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 2 9 2 2 2 R6YXGP500 R6YXGP600 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1...

Page 5: ...standard coordinate setup jig 3 3 3 1 R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 3 3 3 2 R6YXGP500 R6YXGP600 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 3 4 Chapter...

Page 6: ...CONTENTS XGC XGP Installation Manual T 4 1 2 6 R6YXGP500 7 14 1 2 7 R6YXGP600 7 16 1 2 8 R6YXGHP600 7 18 1 2 9 R6YXGP700 7 20 1 2 10 R6YXGP800 7 22 1 2 11 R6YXGP900 7 24 1 2 12 R6YXGP1000 7 26...

Page 7: ...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...

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Page 9: ...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 10: ...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 11: ...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 12: ...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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...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 19: ...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 20: ...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 21: ...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 22: ...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 23: ...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 24: ...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 25: ...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 26: ...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 27: ...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 28: ...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 29: ...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 30: ...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 31: ...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 32: ...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 33: ...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 34: ......

Page 35: ...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 Rep...

Page 36: ......

Page 37: ...Contents Before using the robot Be sure to read the following notes i Introduction iii Introduction...

Page 38: ......

Page 39: ...YXGLC P 600 R6YXGP500 R6YXGP600 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 and R6YXGP1000 the machine harness may project toward the base rear side according to the arm position The maximum projection a...

Page 40: ...g Z axis operation Only Z axis operates Upper end Lower end Total timer 1 0 sec All axes operate Timer 0 5 sec Timer 0 5 sec 4 Z axis additional mechanical stopper The Z axis additional mechanical sto...

Page 41: ...robot Be sure to explain to the new user the need to read through this manual For explanations not described in this manual see the Installation Manual and Maintenance Manual for XG series Additional...

Page 42: ......

Page 43: ...Chapter 1 Functions Contents 1 Robot manipulator 1 1 1 1 Manipulator movement 1 1 1 2 Part names 1 2 2 Robot initialization number list 1 4...

Page 44: ......

Page 45: ...axis arm equivalent to human arm and a Z R axis equivalent to human wrist With these 4 axes the XG series robots can move as shown in the Fig below By attaching different types of end effector grippe...

Page 46: ...effector attachment End effector attachment Z axis spline Y axis mechanical stopper X axis motor User tubing 1 4 black User tubing 2 4 red Serial label Warning label 1 Warning label 2 Warning label 3...

Page 47: ...axis speed reduction gear X axis motor X axis mechanical stopper Y axis mechanical stopper X axis arm Tool flange Bellows User tubing 1 6 black User tubing 2 6 red Tapped hole for user Y axis speed r...

Page 48: ...nd OFFSET PULSE settings in the axis parameters will be erased making the standard coordinate settings invalid For details about standard coordinates see 4 Setting the standard coordinates in Chapter...

Page 49: ...mechanical stoppers 2 15 4 1 Installing the X axis Y axis additional mechanical stoppers 2 18 4 1 1 R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 2 18 4 1 2 R6YXGP500 R6YXGP60...

Page 50: ......

Page 51: ...E This chapter describes only the points that are different from the standard models For details about other explanations see the Installation Manual for XG series standard models 1 1 Sucking from the...

Page 52: ...RIP PROOF PERFORMANCE FOR FLUID OTHER THAN WATER CONTACT YOUR DISTRIBUTOR IP 6 5 Degree of protection versus solid debris 6 Degree of protection versus water penetration 5 At level 5 water injected fr...

Page 53: ...ontaining deteriorated compressor oil filtration 40 m or less Be sure to connect the air supply and use the air purge function Failing to do so may allow water and dust to enter the joint areas in som...

Page 54: ...nt proper bellows action possibly damaging the bellows When installed in an area where there is a risk of water and dust entering the exhaust port install a pipe which extends from the exhaust port to...

Page 55: ...AUTION If there is any damage due to transportation or insufficient parts please notify your distributor immediately Controller YRCX Robot R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXG...

Page 56: ...6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 5 3URGXFW FRQILJXUDWLRQV 5RERW PDQLSXODWRU 8VHU V 0DQXDO DUQLQJ ODEHO 6WDQGDUG FRRUGLQDWH VHWWLQJ MLJ RSWLRQ 2ULJLQ SRVLWLRQ VWLFNHUV RQQHFWRU IRU XV...

Page 57: ...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 YRC A B X Y Z R Product configurations PB programming box Robot manipulator User s Manual...

Page 58: ...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 YRC A B X Y Z R Product configurations PB programming box Robot manipulator User...

Page 59: ...R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 To check the mass of each robot refer to 1 1 Basic specifications in Chapter 7 1 Fold the arms while referring to the Fig below Moving the robot...

Page 60: ...ng torque R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 M8 37Nm 380kgfcm Depth of tapped holes in installation base Iron installation base Bolt diameter 1 5 or more Aluminum in...

Page 61: ...e user wires and air tubes are shown below Always observe the specifications User Wiring Rated voltage 30V Allowable current 1 5A Nominal cross section area of conductor 0 2mm2 Shield Yes User Tubing...

Page 62: ...ions may have different wiring colors R6YXGP500 R6YXGP600 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 Connectors 1 to 20 can be used for user signal wires A shielded cable is connected to conn...

Page 63: ...NTING BRACKET SUPPLIED IF THIS CONNECTOR COMES OFF THIS MAY CAUSE THE ROBOT TO MALFUNCTION SEE THE FIG BELOW TAKE APPROPRIATE MEASURES SO THAT THE WIRING OR TUBING PREPARED BY THE USER THAT HAS BEEN I...

Page 64: ...e KDM M4872 000 NJW 24 16 PF 15 Nanaboshi Electric Mfg Co Ltd 1 User wiring connector at arm side KDM M4871 000 NJW 24 16 PM 15 Nanaboshi Electric Mfg Co Ltd 1 Cap KDM M4839 000 NJW 24 RCA Nanaboshi E...

Page 65: ...limited When the robot is shipped from factory the movement 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 th...

Page 66: ...XGP600 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 1 2 36 43 92 87 132 102 114 147 152 As option parts are ordered and then they are installed the movement ranges of the X axis and Y axis can...

Page 67: ...maximum working envelope position 473315 130 R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 X axis stopper position Soft limit pulses Working envelope 12 32768 9 43 145635 40 87 305834 84 132 ma...

Page 68: ...X axis and Y axis plus and minus directions The following describes how to install the mechanical stopper using the stopper in the X axis and Y axis plus direction as an example The stopper in the mi...

Page 69: ...t the movement range is limited 8 Go out of the safety enclosure 9 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller 10 Set the soft limits in the...

Page 70: ...tapped hole 1 Y axis minus direction additional stopper 2 Move the standard stopper to this position and secure it Use the bolt and washer to protect the tapped hole 1 X axis minus direction addition...

Page 71: ...XG Installation Manual Chapter 2 8 Limiting the movement range with Z axis mechanical stopper 6 Working envelope and mechanical stopper positions for maximum working envelope The movement ranges for...

Page 72: ...idering the durability of the 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...

Page 73: ...pline 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 the wiring and tubing Clamp using nyl...

Page 74: ...ILE REFERRING TO THE FIG BELOW IF THE COVERS ARE NOT SECURED FIRMLY NOISE MAY OCCUR THE COVER MAY DROP AND FLY OUT YOUR HAND MAY BE ENTANGLED IN THE DRIVE UNIT DURING TEACHING OR YOUR HAND MAY BE IN C...

Page 75: ...the bellows Step 7 O ring 1 8 Remove the rolling mechanism part and O ring Removing the rolling mechanism part Step 8 O ring 2 Rolling mechanism part Hex socket head bolt M3 length 10 4 pcs 9 To prev...

Page 76: ...socket head bolt M3 length 18 stainless 4 pcs Seal washer 3 Plate Mounting bracket 13 Remove the cover seal 6 and seal 7 Since the seal 7 is affixed to the Y axis arm peel off the adhesive agent compl...

Page 77: ...proof performance or the degree of cleanliness may lower For details about the bellows clamp position see the Fig on the right 3 12 1 5 Clamp Step 15 The bellows end face is flush with the clamp ring...

Page 78: ...dust drip proof performance or the degree of cleanliness may lower Removing the base front cover Seal 9 Base front cover Base front cover clamping bolt Hex socket head bolt M4 length 12 stainless 4 pc...

Page 79: ...The Y axis arm cover cannot be detached or attached unless the Z axis is moved down to its lower end If any seal loses its strength when detaching the cover it is recommended to replace it with a new...

Page 80: ...front cover securing screws Hex socket head bolt M4 10 stainless Base rear cover securing screws Hex socket head bolt M4 20 stainless Y axis arm cover securing screws front side Z200 Hex socket head b...

Page 81: ...panel 3 Enter the safety enclosure 4 Install the tool flange Align the orientation of the tapped hole for the tool flange set screw with that of the width across flat part of the spline and then inser...

Page 82: ...s the load of the tip load s weight Permissible spline loads R F1 R F2 F2 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 6 8 10 12 0 50 100 150 Z 0 80mm Z 100mm Z 150...

Page 83: ...ical distance from the Z axis origin position to the load must not exceed 150mm The vertical distance from the Z axis origin position to the load must not exceed 300mm R6YXGP500 R mm 0 2 4 6 8 10 0 2...

Page 84: ...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 400mm R6YXGP800 R mm 0 50 100 150 0 50 100 0 5 10...

Page 85: ...justing the origin 3 2 3 Standard coordinate setting using a standard coordinate setup jig 3 3 3 1 R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 3 3 3 2 R6YXGP500 R6YXGP600 R6Y...

Page 86: ......

Page 87: ...amming box or operation panel If a safety enclosure has not yet been provided right after installation of the robot rope off or chain off the movement area around the manipulator in place of a safety...

Page 88: ...same manner as the standard model carefully adjust the machine reference so that the origin does not deviate even when you touch the arm etc accidentally during work After the machine reference has be...

Page 89: ...er User s Manual 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 controller or operation panel 4 Enter the s...

Page 90: ...axis parameters M1 X axis arm length M2 Y axis arm length R6YXGLC P 250 100 00 150 00 R6YXGLC P 350 200 00 150 00 R6YXGLC P 400 250 00 150 00 R6YXGLC P 500 250 00 250 00 R6YXGLC P 600 350 00 250 00 11...

Page 91: ...Chapter 4 Periodic inspection Contents 1 List of inspection items 4 1...

Page 92: ......

Page 93: ...looseness 2 Application of grease to Z axis spline and Z axis ball screw 3 Remove the old grease with a cloth rag and apply the grease R6YXG L C LG2 NSK R6YXG L P Alvania grease S2 Showa Shell Z axis...

Page 94: ...t If noise is heard even when no object is found contact your distributor Bolt tightening torque Bolt size Tightening torque kgfcm Tightening torque Nm M3 button head bolt 14 1 4 M4 set screw 20 2 0 M...

Page 95: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...

Page 96: ......

Page 97: ...rive periodically 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 TRAI...

Page 98: ...c drive should be replaced 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 d...

Page 99: ...Chapter 6 Torque limit designated Z axis pushing action Contents 1 Torque limit designated Z axis pushing action 6 1...

Page 100: ......

Page 101: ...ual or YRC series programming manual R6YXGLC P 250 R6YXGLC P 350 R6YXGLC P 400 R6YXGLC P 500 R6YXGLC P 600 Tip Load Weight kg Torque Limit Value Pushing Force N Torque Offset Speed Limit Value R6YXGLC...

Page 102: ...t Value R6YXGHP600 R6YXGP700 R6YXGP800 R6YXGP900 R6YXGP1000 18kg 50 to 100 200 to 400 21 34 30 26 24 17kg 50 to 100 200 to 400 21 33 29 26 23 16kg 50 to 100 200 to 400 20 33 29 26 23 15kg 50 to 100 20...

Page 103: ...400 20 32 28 25 23 14kg 50 to 100 200 to 400 19 32 28 25 22 13kg 50 to 100 200 to 400 18 31 27 24 22 12kg 40 to 100 160 to 400 16 30 27 24 21 11kg 40 to 100 160 to 400 15 30 26 23 21 10kg 40 to 100 1...

Page 104: ......

Page 105: ...ew and dimensions 7 4 1 2 1 R6YXGLC P 250 7 4 1 2 2 R6YXGLC P 350 7 6 1 2 3 R6YXGLC P 400 7 8 1 2 4 R6YXGLC P 500 7 10 1 2 5 R6YXGLC P 600 7 12 1 2 6 R6YXGP500 7 14 1 2 7 R6YXGP600 7 16 1 2 8 R6YXGHP6...

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Page 107: ...30N min 3 Dust drip proof protection rating R6YXG L P IP65 IEC60529 or its equivalent 4 1 At constant ambient temperature XY 2 There are limits to acceleration coefficient settings 3 Class 10 0 1 m FE...

Page 108: ...es User tubing 6 3 Travel limit 1 Soft limit 2 Mechanical stopper XYZ axes Robot cable 3 5m option 5m 10m Weight 33kg 34kg Dust drip proof protection rating R6YXG L P IP65 IEC60529 or its equivalent 3...

Page 109: ...User wiring 20 cables User tubing 6 3 Travel limit 1 Soft limit 2 Mechanical stopper XYZ axes Robot cable 3 5m option 5m 10m Weight 52kg 54kg 54kg 56kg 56kg 58kg 58kg 60kg 60kg 62kg Dust drip proof pr...

Page 110: ...not used attach the plug supplied with the robot 70 50 20 39 10 10 39 The weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r 1 1 Cross s...

Page 111: ...al stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 106 Other option St...

Page 112: ...10 10 39 The weight of the tool attached here should be added to the tip mass 0 12 32 45 58 71 93 0 32 61 98 6 31 26 22 5 10 Connector for user wiring No 1 to 10 usable Cable clamp size 13 1 to 15 M4...

Page 113: ...R144 276 Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be cha...

Page 114: ...ite Connector for user wiring No 1 to 10 usable Cable clamp size 13 1 to 15 If not used cover the connectors with the caps supplied with the robot User tubing 1 4 black User tubing 2 4 red If the user...

Page 115: ...R 15 0 Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be chan...

Page 116: ...70 20 The weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r 1 1 Cross section A A Scale 1 1 7 8 7 8 13 4 13 4 View of F Scale 1 1 Since...

Page 117: ...Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to...

Page 118: ...39 70 20 The weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r 1 1 Cross section A A Scale 1 1 7 8 7 8 13 4 13 4 View of F Scale 1 1 Si...

Page 119: ...X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 pos...

Page 120: ...03 P C D 36 There is no phase relation between each position of M5 tapped holes and R axis origin position 6 20 3 6 10 M5 0 8 Depth 11 6 M5 0 8 Depth 11 Z axis lower end mechanical stopper position 40...

Page 121: ...0 135 292 1 3 0 1 3 0 107 R 5 0 0 R178 R 3 0 0 R300 135 Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and bellows int...

Page 122: ...4 ground terminal User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue 0 30 50 70 115 120 Connector for user wiring No 1 to 20 usable cable clamp size 16 to18 Cover with the caps provided wh...

Page 123: ...velope of right handed system Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and bellows interfere with each other in...

Page 124: ...troke 188 7 2 200 Z axis stroke 400 Z axis stroke X axis joint air purge port 6 Yaxis joint air purge port 6 M4 ground terminal User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue 0 40 60 8...

Page 125: ...6 5 R600 98 158 R 4 0 0 Working envelope of left handed system Working envelope of right handed system Note that the robot cannot be used at a position where the base flange robot cable spline and be...

Page 126: ...g provided when not used M4 ground terminal X axis joint air purge port 6 Yaxis joint air purge port 6 User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue Connector for user wiring No 1 to...

Page 127: ...700 R205 R 2 6 5 R 4 0 0 Working envelope of right handed system Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and be...

Page 128: ...hen not used User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue 4 14 M12 bolt for installation 4 bolts used Z axis rises by 6mm during return to origin Z axis lower end mechanical stopper...

Page 129: ...R205 R 4 0 0 R 2 6 5 98 Working envelope of right handed system Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and be...

Page 130: ...ring No 1 to 20 usable cable clamp size 16 to18 Cover with the caps provided when not used User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue 4 14 M12 bolt for installation 4 bolts used Z...

Page 131: ...R 4 0 0 R252 R 2 6 5 Working envelope of right handed system Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and bello...

Page 132: ...iring No 1 to 20 usable cable clamp size 16 to18 Cover with the caps provided when not used User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue 4 14 M12 bolt for installation 4 bolts used Z...

Page 133: ...pe of right handed system Working envelope of left handed system Note that the robot cannot be used at a position where the base flange robot cable spline and bellows interfere with each other in the...

Page 134: ...on the front cover manual DW 1R 1 5HYLVLRQ FRGH The following table outlines the changes made to the manual during each revision Revision code Date Description 01 October 2013 Original production 02 J...

Page 135: ......

Page 136: ...Cat No I158E EN 02A Note Specifications subject to change without notice Authorized Distributor Printed in Europe...

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