Omron R6YXGLC250, Installation Manual, Page: 90 / 136

3
Robot settings
3-4
8
Make a note of the Y-axis position
pulse value.
1. Enter "MANUAL>POINT" mode.
2. Lightly apply a clockwise torque to the Y-axis
while holding the X-axis arm.
3. Make a note of the Y-axis position pulse value
displayed on [POS] when the torque is unloaded.
4. Lightly apply a counterclockwise torque to the
Y-axis while holding the X-axis arm.
5. Make a note of the Y-axis position pulse value
displayed on [POS] when the torque is unloaded.
9
Determine the + direction of the
X-axis.
Move the X-axis arm in the direction that you want
to set as the + direction of the X-axis. At this time,
make a note of the X-axis position pulse value
displayed on [POS].
X-axis + direction
Step 9
+Y direction
+X direction
10
Enter the "11. Arm length [mm]"
values.
Enter the following values in M1 and M2 for "11.
Arm length [mm]" of 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
Enter the "12. Offset pulse" values.
Enter the values shown on the right in "12. Offset
pulse" of axis parameters.
Entering the “12. Offset pulse” values
Step 11
Note: Round off the decimal part of the M2 value.
M1= X-axis position pulse value you have made a note of in step 9
2
M2=
+
Y-axis position pulse value you have
made a note of in step 8 (clockwise)
Y-axis position pulse value you have
made a note of in step 8 (counterclockwise)
12
Reattach the plug bolt and seal
washer.
1. Remove the pin and bolt.
2. Reattach the plug bolt and seal washer.
3.2 R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700,
R6YXGP800, R6YXGP900, R6YXGP1000
Regarding the R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000
models, refer to the standard specification XG Installation Manual, Chapter 3 "4. Setting the standard coordinates".