Omron R6YXGLC250, Installation Manual, Page: 39 / 136

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Before using the robot (Be sure to read the following notes.)
Thank you for purchasing OMRON XGC/XGP series SCARA robot.
This manual describes only the points that are different from the standard models.
For details about other explanations, see the Installation Manual and Maintenance Manual for XG series standard
models.
1. If the Z-axis spline vibrates.
The Z-axis spline of the R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500 and R6YXGLC(P)600 tends
to vibrate in a Z-axis operation speed range of 20% to 40%. If the Z-axis spline vibrates, operate it beyond this operation speed
range.
2. If the machine harness projects toward the base rear side.
In the R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(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 amount is described in "1.2 External view and dimensions" in Chapter 7. So, refer to this section for
further information.
Projection of the machine harness toward the base rear side (Example: R6YXGLC(P)250)
100 150 56
117
Projection amount
Machine harness
(150)
661
809
839
689
614
↓F
246
428
510
632 ±10
Maximum 660 during arm rotation
Maximum 240
during arm rotation
167
202
221
4
Z-axis upper end mechanical stopper position
Z-axis rises by 4mm during return-to-origin.
Z-axis lower end mechanical stopper position
150
10
10
0
54.5 ±2
95.5
42
A
A
4
38
70
User tool
installation
range
120
133
90
173
234
264
0
16h7
- 0.018
0
51
43
48
283
57
CAUTION
If there is an interference object on the base rear side, be sure to keep a sufficient space.