Omron SCARA R6Y-XC Series, User Manual, Page: 19 / 203

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CHAPTER 1 Using the Robot Safely
(18) Protective bonding
(19) Be sure to make correct parameter settings.
(20) Do not use the robot for tasks requiring motor thrust.
(21) If the X, Y or R axis rotation angle is small
WARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT
ELECTRICAL SHOCK.
CAUTION
THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE
MOMENT OF INERTIA AND ACCELERATION COEFFICIENTS
ACCORDING TO THE MANIPULATOR TIP MASS AND MOMENT OF
INERTIA. IF THIS IS NOT OBSERVED, PREMATURE END TO THE LIFE
OF THE DRIVE UNITS, DAMAGE TO THE ROBOT PARTS OR RESIDUAL
VIBRATION DURING POSITIONING MAY RESULT.
CAUTION
IF THE X, Y OR R AXIS ROTATION ANGLE IS SMALLER THAN 5° SO
THAT IT ALWAYS MOVES IN THE SAME POSITION, AN OIL FILM IS
DIFFICULT TO BE FORMED ON THE JOINT SUPPORT BEARING,
POSSIBLY LEADING TO DAMAGE TO THE BEARING. IN THIS TYPE OF
OPERATION, ADD A MOVEMENT SO THAT THE JOINT MOVES
THROUGH 90° OR MORE, ABOUT 5 TIMES A DAY.
CAUTION
AVOID USING THE XC SERIES ROBOTS FOR TASKS WHICH MAKE USE
OF MOTOR THRUST (PRESS-FITTING, BURR REMOVAL, ETC.). THESE
TASKS MAY CAUSE MALFUNCTIONS OF THE ROBOT.