Omron SCARA R6Y XE Series User Manual Download

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Summary of Contents for SCARA R6Y XE Series

Page 1: ...7 6HULHV DW 1R 1 5 VHULHV 0 17 1 1 0 18 6 5 5RERWV VHULHV...

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Page 3: ...lying the grease to the ball screw 3 7 Chapter 4 Adjusting the origin 1 Adjusting the machine reference value 4 1 1 1 Stroke end method 4 1 1 1 1 Changing the X axis reference value R6YXE400 4 2 1 1 2...

Page 4: ...Replacement procedure for harmonic drive R6YXE610 R6YXE710 5 20 3 1 Replacing the X axis harmonic drive 5 20 3 1 1 Preparation 5 20 3 1 2 Removal 5 21 3 1 3 Replacement and reassembly 5 24 3 1 4 Aging...

Page 5: ...t 8 9 2 3 Replacing the Z axis ball screw 8 10 2 4 Replacing the Z axis brake 8 11 Chapter 9 Replacing the R axis drive unit 1 Replacing the R axis drive unit R6YXE400 9 1 1 1 Replacing the R axis mot...

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Page 7: ...nd or 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...

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Page 9: ...Contents 1 Introduction 1 1 1 1 Available manuals 1 1 1 2 Signal symbols 1 1 2 Before using the robot Be sure to read the following notes 1 3 Chapter 1 Introduction...

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Page 11: ...d this manual carefully before installing the robot For details about actual robot operation and programming refer to the OMRON Robot Controller User s Manual WARNING The adjustment and maintenance wo...

Page 12: ...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 potentially hazardo...

Page 13: ...l axis names are called using alphabetic characters like X axis Y axis Z axis and so on So read this manual while referring to the robot external view and axis name correspondence table shown below Ex...

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Page 15: ...Chapter 2 Attaching detaching and replacing the cover Contents 1 Attaching detaching and replacing the cover 2 1...

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Page 17: ...r may drop and fly out your hand may be entangled in the drive unit during teaching or your hand may be in contact the hot drive unit causing burn To prevent such troubles strictly observe this cautio...

Page 18: ...g bolt 1 OMRON s part No 91312 04006 M4x6 2 pcs Base rear cover mounting bolt 1 OMRON s part No 91312 04006 M4x6 2 pcs Base rear cover OMRON s part No KDS M1310 00 Base rear cover mounting bolt 2 OMRO...

Page 19: ...riodic inspection Contents 1 Overview 3 1 2 Daily inspection 3 2 3 Six month inspection 3 3 4 Applying the grease 3 6 4 1 Applying the grease to the spline shaft 3 6 4 2 Applying the grease to the bal...

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Page 21: ...this instruction manual WARNING When you need to touch the terminals or connectors on the outside of the controller during inspection always first turn off the controller power switch and also the pow...

Page 22: ...aily inspection Check the following points from outside the safety enclosure Checkpoint Procedure Safety enclosure Check if the safety enclosure is in place Check if emergency stop is triggered when t...

Page 23: ...ainer so use protective gloves Keep out of the reach of children Do not heat the grease or place near an open flame since this could lead to sparks and fires Emergency Treatment If this grease gets in...

Page 24: ...s Y axis and R axis Clean if it is dirty Controller Check for looseness at each terminal and connector on the panel See 4 Robot cable connection in Chapter 2 of the Installation Manual Application of...

Page 25: ...point Procedure Cooling fan of controller Check if the fan rotates normally Check if objects blocking the fan are located and remove if any are found Check for abnormal noise from the rotating fan If...

Page 26: ...oller power Step2 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 Step3 Enter th...

Page 27: ...justed Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel Step3 Enter the safety enclosure Step4 Remove the Y axis arm cover Remove the...

Page 28: ...3 Periodic inspection 3 8 R6YXE610 R6YXE710 Cover bolt Applying the grease Apply the grease to the groove thinly Apply the grease to the groove thinly 53312 FV 00...

Page 29: ...nging the Z axis and R axis reference values 4 3 1 2 Sensor method X axis Y axis 4 6 1 2 1 Adjusting the X axis machine reference 4 6 1 2 2 Adjusting the Y axis machine reference 4 8 1 3 Mark method R...

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Page 31: ...then the standard coordinate and point data must be reset 1 1 Stroke end method The machine reference value was adjusted correctly at shipment So the readjustment is not needed during normal operation...

Page 32: ...ep7 Loosen the bolts that secure the speed reduction gear At this time it is enough to loosen the bolts Do not pull out the bolts A rattle is produced Utilize this rattle to turn the arm To increase t...

Page 33: ...axis motor R axis motor Y axis arm cover Removing the cover Washer Step 7 Hex socket head bolt R axis motor Z axis motor Y axis arm cover Removing the cover 23301 FV 00 21313 FV 00 WARNING If the pul...

Page 34: ...hifting the belt engagement one tooth will change the machine reference value approximately 25 When shifting the pulley clockwise with the belt teeth left as they are the reference value will increase...

Page 35: ...gin refer to 2 3 Return to origin procedures in this Chapter Step15 Check the Z axis machine reference value After the return to origin has been completed check that the machine reference value is wit...

Page 36: ...controller Step2 Perform the return to origin Perform the return to origin from outside the safety enclosure For details about how to perform the return to origin refer to 2 3 Return to origin proced...

Page 37: ...Secure the X axis origin sensor with the hex nut Secure the X axis origin sensor with the hex nut Tightening torque 5Nm 50kgfcm Tool KANON Nakamura Mfg Co Ltd Torque wrench N190SPK 13 Step11 Turn on t...

Page 38: ...fer to 2 3 Return to origin procedures in this Chapter Step3 Check the machine reference value If the machine reference value displayed on the PBEX is not in the range between 25 and 75 recommended ra...

Page 39: ...with the dog Step10 Secure the Y axis origin sensor with the hex nut Secure the Y axis origin sensor with the hex nut Tightening torque 5Nm 50kgfcm Tool KANON Nakamura Mfg Co Ltd Torque wrench N190SPK...

Page 40: ...in servo off state new reset To perform the absolute reset for the first time refer to this portion 1 3 1 Absolute reset in servo on state re reset WARNING Serious injury might occur from physical co...

Page 41: ...llowable value See the figure below If the absolute reset is performed at a position exceeding the repeatability allowable value or at a position different from the previous absolute reset position th...

Page 42: ...operate the robot controller see the OMRON Robot Controller User s Manual Step1 Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller Step2 Place a si...

Page 43: ...from the previous absolute reset position the positional deviation may occur When performing the absolute reset take appropriate measures so that the deviation between the origin position marks is pu...

Page 44: ...e return to origin position where the value of the selected axis on the PBEX screen enters the range between 26 and 74 press the key If the value of the selected axis is not in the range between 26 an...

Page 45: ...RIGIN RTN TRQ SENS screen on the PBEX operation return to origin Step5 Display the ORIGIN RTN MARK screen Press MARK on the ORIGIN RTN TRQ SENS screen Step6 Select an axis whose absolute reset is perf...

Page 46: ...g next absolute reset The origin position repeatability allowable value of each axis is shown below Origin position repeatability allowable value axis Origin position repeatability allowable value X 0...

Page 47: ...e machine reference value When the robot is moved to a position where the absolute reset is performed check that the value of the selected axis is in the range between 26 and 74 on the PBEX screen Nor...

Page 48: ...n be understood securely during next absolute reset The origin position repeatability allowable value of each axis is shown below Origin position repeatability allowable value axis Origin position rep...

Page 49: ...2 2 Replacing the Y axis harmonic drive 5 11 2 2 1 Preparation 5 11 2 2 2 Removal 5 12 2 2 3 Replacement and reassembly 5 14 2 2 4 Aging 5 19 3 Replacement procedure for harmonic drive R6YXE610 R6YXE...

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Page 51: ...place near an open flame since this could lead to sparks and fires Emergency Treatment If they get in the eyes wash liberally with pure water for about 15 minutes and consult a physician for treatment...

Page 52: ...M2110 00 1 2 O ring Supplied with the harmonic drive KN3 M2144 00 Cross section diameter 0 99mm Inside diameter 53 28mm 1 May deteriorate and must be replaced 3 O ring KN3 M2143 00 Cross section diam...

Page 53: ...ew thread locking agent Loctite 262 Henkel High strength type red 1 27g 2 1 2 Removal Follow the steps below to remove the X axis parts Step1 Turn off the controller Step2 Place a sign indicating the...

Page 54: ...r O ring Bolt M5 x 16 53501 FV 00 Step7 Remove the wave generator 1 Remove the set screw 1 pc that secures the wave generator 2 Remove the wave generator from the motor 53502 FK 00 Removing the wave g...

Page 55: ...ring supplied with the harmonic drive Washer Bolt M3 x 20 53503 FV 01 Step9 Remove the X axis harmonic drive from the X axis arm 53505 FV 00 NOTE An O ring is fitted to the X axis arm Replace this O r...

Page 56: ...gnment 3 Apply the harmonic grease to a new wave generator For details about how to apply the grease see the Fig below Degrease the top and bottom installation surfaces of the harmonic drive Step 1 Ap...

Page 57: ...s After that replace the old bolts with new ones to secure the harmonic drive firmly For details see 1 Adjusting the machine reference value in Chapter 4 Step 2 Mounting the harmonic drive New washer...

Page 58: ...red bolt O ring 2 supplied with the harmonic drive Do not stick any grease to the seating part Degrease the base top surface where the harmonic drive is to be installed 53510 FV 01 Step5 Secure the ha...

Page 59: ...e harmonic grease Apply the grease slightly inside the wave generator Apply the remaining grease to the top surface of the wave generator Apply the grease slightly inside the wave generator Wave gener...

Page 60: ...ter the harmonic drive has been replaced it is necessary to perform the return to origin and set the standard coordinates and point data again Make the adjustments while referring to Chapter 3 Adjusti...

Page 61: ...2 03008 M3 8 4 2 Tools Torque wrench etc CAUTION Use accurately calibrated torque screwdrivers and torque wrenches Name Part No Manufacturer Remarks A Torque screwdriver N30LTDK KANON Nakamura Mfg Co...

Page 62: ...5 the Y axis arm comes off causing hazardous situation If a heavy tool is attached to the arm tip the arm may drop Take great care when removing the Y axis arm mounting bolts Step5 Remove the Y axis...

Page 63: ...otor shaft M3 set screw Wave generator 53620 FV 00 Step7 Remove the Y axis harmonic drive from the top surface of the X axis arm 1 Remove the Y axis harmonic drive mounting bolts 2 Remove the O ring 5...

Page 64: ...ot remove the bolts that have been secured temporarily before installing new bolts Doing so may cause a misalignment 3 Apply the harmonic grease 4B No 2 to a new wave generator 4 Remove the old grease...

Page 65: ...ith the new bolts Apply the harmonic grease 4B No 2 to the tip of each bolt so that the roots of at least the first four threads are filled with grease Grease applied to the bolt tip is intended to st...

Page 66: ...ught out of the groove this may cause a malfunction Step7 Secure the wave generator 1 Pass the wave generator through the motor shaft while carefully checking its orientation For details about the pos...

Page 67: ...o prevent abnormal sounds from the harmonic drive only four bolts 13 14 15 and 16 shown in the Step 9 illustration should be seated first and tightened only to the point where a torque is not yet appl...

Page 68: ...ing the Y axis arm using the tool A 3 Use tool B to also tighten 12 remaining bolts in diagonal pattern sequence 4 Finally check that the bolts are tightened to the specified torque Tightening the bol...

Page 69: ...osure and then turn on the controller CAUTION After the harmonic drive has been replaced it is necessary to perform the return to origin and set the standard coordinates and point data again Step3 Per...

Page 70: ...replacing the cover in Chapter 2 The following shows the parts and tools necessary for the X axis harmonic drive replacement work 3 1 1 Preparation 1 Replacement parts Part Name OMRON Part No Part No...

Page 71: ...230HCK4 KANON Nakamura Mfg Co Ltd Insert M5 hexagon socket wrench without ball tip 110mm E Torque screwdriver N30LTDK KANON Nakamura Mfg Co Ltd For M3 hex socket head bolt Tightening torque 1 8Nm 18k...

Page 72: ...oes not apply any force to the harness and does not interfere with the work WARNING If the X axis arm mounting bolts are removed the X axis arm may come off Use caution as the arm may fall Removing th...

Page 73: ...53533 FV 00 Remove the set screw 1 pc that secures the wave generator Step10 Removing the harmonic drive Removing the harmonic drive Step 10 Harmonic drive Washer Bolt M4 x 20 O ring supplied with th...

Page 74: ...ignment 3 Apply the harmonic grease to a new wave generator For details about how to apply the grease see the Fig below Degrease the top and bottom installation surfaces of the harmonic drive Wave gen...

Page 75: ...ing the return to origin by means of the stroke end method make the positioning of the harmonic drive and secure it with the old bolts After that replace the old bolts with new ones to secure the harm...

Page 76: ...s shown in the figure on the right application of harmonic grease CAUTION If the wave generator is too tight to press into the motor shaft when pressed with your finger do not force the key or motor s...

Page 77: ...nd Degrease the mating surfaces of the motor holder and base Motor Unit Mounting Step 8 Motor unit New bolt 5 M5 x 25 Tools D 53543 FV 00 Step9 Secure the ring Fixing the ring Step 9 Ring Bolt 6 M4 30...

Page 78: ...ue 4 Finally check the torque for one full rotation Step 11 Attaching Washer 11 10 M4 40 5 Tools B Assembly and tightening order enlarged view New bolt enlarged view New O ring 2 KN4 M2143 00 Decelera...

Page 79: ...fety enclosure and then turn on the controller CAUTION After the harmonic drive has been replaced it is necessary to perform the return to origin and set the standard coordinates and point data again...

Page 80: ...calibrated torque screwdrivers and torque wrenches Name Part No Manufacturer Remarks A Torque Wrench N120SPCK KANON Nakamura Mfg Co Ltd For M5 hex socket head bolt Tightening torque 7 4Nm 76kgfcm Repl...

Page 81: ...he safety enclosure Step4 Remove the cover Removing the cover Step 4 Bolt Cover 53651 FV 00 Step5 Remove the harness cover Remove the harness cover Step 5 Bolt M4x10 53619 FV 00 NOTE Place the removed...

Page 82: ...motor removal Step 6 Bolted M5x16 O ring 53620 FV 00 Step7 Remove the motor Step8 Y Remove the shaft arm 53549 FV 00 Y motor removal Step 8 Harmonic drive accessory O ring Washer Bolt M3 20 CAUTION Y...

Page 83: ...Generator Step 9 53559 FV 00 Step10 Remove the Y axis harmonic drive from the top surface of the X axis arm 1 Y Remove the shaft harmonic drive mounting bolts 2 O Remove the ring Step 10 Removing the...

Page 84: ...olts 9 M3 8 4pic Fill the space of the ball sufficiently with grease Apply grease Total grease 3g Harmonic grease 53551 FV 01 2 Remove the pre assembled temporary fixing bolts CAUTION Do not remove th...

Page 85: ...s 3 Place the new harmonic drive on the X axis arm and secure it with the new bolts For the fixing bolts apply 4BNo 2 grease to the troughs with four or more crests at the end and fill the entire circ...

Page 86: ...ring left caught out of the groove this may cause a malfunction Step6 Secure the Y axis arm to the harmonic drive 1 Degrease the Y axis arm side where the harmonic drive is attached 2 Apply 4BNo 2 gre...

Page 87: ...ed and then torque up again 4 Finally check the torque for one full rotation Tightening instructions for bolts Step 7 7 7 q q t t e e 1 1 9 9 5 5 y y 4 4 w w 8 8 r r 2 2 0 0 6 6 3 3 53556 FV 00 Step8...

Page 88: ...ing the harmonic drive 5 38 Step9 Install the harness cover Installing the Harness Cover Step 9 Bolt M 4 x 10 53558 FV 00 Step10 Replacing the Cover Step 10 Reattaching the cover Cover Bolt 0 9Nm 5363...

Page 89: ...osure and then turn on the controller CAUTION After the harmonic drive has been replaced it is necessary to perform the return to origin and set the standard coordinates and point data again Step3 Per...

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Page 91: ...6 Replacing the machine harness Contents 1 Replacing the machine harness R6YXE400 6 1 1 1 Removal 6 2 1 2 Assembly 6 5 2 Replacing the machine harness R6YXE610 R6YXE710 6 6 2 1 Removal 6 6 2 2 Assemb...

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Page 93: ...see the tightening torque stated in 2 Replacement procedure for harmonic drive 2 Replacement procedure for harmonic drive R6YXE400 in Chapter 5 The return to origin needs to be performed after replaci...

Page 94: ...ating the robot is being adjusted to keep others from operating the controller or operation panel Step3 Enter the safety enclosure Step4 Remove the connector hood Removing the connector hood Step 4 Co...

Page 95: ...rop any lock washer or screw Step9 Disconnect the wiring connector Step 7 9 Connector Air tube black Bis with washer M4 8 Ring tongue terminal lock washer lock washer Air tube joint Air tube red Air t...

Page 96: ...oving cover connector hood Connector hood cover Step12 Remove the connector hood 53606 FV 00 Step13 Remove the air tubes connector and round terminal 53610 FV 00 Step14 Disconnect the machine harness...

Page 97: ...lip when twisting it 90 Be careful not to break the air tube when reattaching the cover Be careful not to break the air tube when reattaching the cover Tighten the lock nut firmly so that it does not...

Page 98: ...OMRON Part No Part No Specs Q ty Remarks 1 Machine harness KFS M4843 10 1 R6YXE610 2 Machine harness KFS M4843 20 1 R6YXE710 2 Other tools Name Part No Manufacturer Remarks Hex wrench set Phillips scr...

Page 99: ...een wiring round terminals Be careful not to drop Kikuza screws etc Step7 Remove wiring connector Removal Step 6 7 Air tube blue Removal point Air tube black Removal point Air tube black Removal point...

Page 100: ...00 Step9 Remove the machine harness Removal Step 9 Bolt Bolt Anti rotation Anti rotation Lock nut Lock nut Remove the lock nut and harness cover to remove the machine harness 53641 FV 00 Step10 Remove...

Page 101: ...on the base rear cover Step11 Connector Rounded terminal Rounded terminal Air tube black Air tube red Air tube blue 51610 FV 00 Step12 Remove the base side detent anti rotation Removing the base side...

Page 102: ...when installing the cover Tighten the lock nut firmly so that it does not loosen A A B B C For the detent apply the plate to the flat part of the nut For the detent apply the plate to the flat part of...

Page 103: ...Chapter 7 Motor replacement Contents 1 Motor replacement 7 1 1 1 X axis motor replacement 7 1 1 2 Y axis motor replacement 7 2...

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Page 105: ...replace the motor refer to the harmonic replacement procedure for each axis To replace the X axis motor disassemble to the point where the X axis motor is removed remove the old grease from the harmo...

Page 106: ...kamura Mfg Co Ltd Wrench without ball end for M4 hex socket head bolt insert 93mm 3 Other tools Name Part No Manufacturer Remarks Cleaning wipe Hex wrench set Harmonic grease 4B No 2 1 Harmonic Drive...

Page 107: ...e O ring to get caught out of the groove during reassembly If the robot is operated with the O ring left caught out of the groove this may cause a malfunction If foreign matter is caught in during rea...

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Page 109: ...motor 8 2 1 2 Replacing the Z axis belt 8 3 1 3 Replacing the Z axis ball screw 8 4 1 4 Replacing the Z axis brake 8 5 2 Replacing the Z axis drive unit R6YXE610 R6YXE710 8 7 2 1 Replacing the Z axis...

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Page 111: ...5mm B Torque driver N20LTDK KANON Nakamura Mfg Co Ltd 1 7Nm tightening torque for M4 set screw Tip bit 3C2010 NAC Nagahori Industry Co Ltd Mounting Hexagonal width across flat 6 35mm total length 100...

Page 112: ...r cable connector signal cable connector and brake cable connector of the Z axis motor Cut the tie bands to disconnect the wiring connectors Step6 Remove the ground terminal mounting bolts and loosen...

Page 113: ...the Z axis motor installation plate mounting position Z axis belt tension Appropriate frequency 259 to 333 Hz Z axis motor assembling position 1 5 Butt to the step of the motor shaft Set screw 5 Scre...

Page 114: ...Y axis arm lower cover Binding head screw M4 8 Pulley Pulley set screw 51808 FV 00 Step4 Remove the hex socket head bolts and remove the ball screw and ball spline holder Step 4 Replacing the ball sc...

Page 115: ...elow to replace the Z axis brake Step1 Perform the work from Step1 to Step7 stated in 1 1 Replacing the Z axis motor of this Chapter to remove the Z axis motor Step2 Remove the brake hub from the pull...

Page 116: ...g bolts M4 10 Washer 53805 FV 00 Step4 Remove the brake unit installation mounting bolts and then the brake Step 4 Removing the brake Motor installation plate Brake unit installation mounting bolts M3...

Page 117: ...flat at tip 1 5mm B Torque driver N20LTDK KANON Nakamura Mfg Co Ltd 1 7Nm tightening torque for M4 set screw Tip bit 3C2010 NAC Nagahori Industry Co Ltd Mounting Hexagonal width across flat 6 35mm to...

Page 118: ...connector signal cable connector and brake cable connector of the Z axis motor Cut the tie bands to disconnect the wiring connectors Step6 Remove the ground terminal mounting bolts and loosen the Z a...

Page 119: ...changing the Z axis motor installation plate mounting position Z axis belt tension Appropriate frequency 150 to 173 Hz Z axis motor assembling position 1 5 Butt to the step of the motor shaft Set scr...

Page 120: ...setting the pulley match the ball screw with the D cut surface Pulley 51822 FV 01 CAUTION Align the ball screw with the D cut surface when assembling Pay attention to the direction of the pulley and...

Page 121: ...djust the belt tension and machine reference Removing the bearing Step 5 Bearing U nut Z axis ball screw 2 4 Replacing the Z axis brake Follow the steps below to replace the Z axis brake Step1 Perform...

Page 122: ...p4 Remove the brake unit installation mounting bolts and then the brake Step 4 Removing the brake Brake unit 4 OMRON s part No KFS M4892 00 Motor installation plate Brake unit installation mounting bo...

Page 123: ...YXE400 9 1 1 1 Replacing the R axis motor 9 1 1 2 Replacing the R axis belt 9 3 1 3 Replacing the R axis ball spline 9 4 2 Replacing the R axis drive unit R6YXE610 R6YXE710 9 5 2 1 Replacing the R axi...

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Page 125: ...length 75mm tip Hexagonal width across flat at tip 2 5mm C Torque driver N50LTDK KANON Nakamura Mfg Co Ltd 4 0 Nm tightening torque for M4 hexagon socket head bolts Tip bit 3C3007 Vessel Co Inc Mounti...

Page 126: ...new one and assemble this new pulley in the reverse order of removal When assembling the belt onto the motor it is necessary to adjust the belt tension Adjust the belt mounting tension by changing the...

Page 127: ...d bolts and then remove the Y axis arm from the pulley assembly Remove the first stage belt 53908 FV 00 Step3 Remove the hex socket head bolts to disassemble the ball spline holder and ball spline 539...

Page 128: ...ng mounting bolt M5 10 Washer Step3 Remove the R axis ball spline unit 53906 FV 00 Step4 Remove the ball spline and replace it with a new one Replace the ball spline OMRON s part No KDS M1840 00 in as...

Page 129: ...across flat at tip 1 5mm B Torque driver N20LTDK KANON Nakamura Mfg Co Ltd 1 7Nm tightening torque for M4 set screw Tip bit 3C2010 NAC Nagahori Industry Co Ltd Mounting Hexagonal width across flat 6...

Page 130: ...roller or operation panel Step3 Enter the safety enclosure Step4 Remove the Y axis arm Step5 Disconnect the R motor power cable connector and signal cable connector Removing the R axis motor Step 6 Gr...

Page 131: ...e reverse order of removal When assembling the belt onto the motor it is necessary to adjust the belt tension Adjust the belt mounting tension by changing the R axis motor installation plate mounting...

Page 132: ...socket head bolts and then remove the Y axis arm from the pulley assembly Remove the first stage belt 53908 FV 00 Step3 Remove the hex socket head bolts to disassemble the ball spline holder and ball...

Page 133: ...line unit Step 2 Spline nut fixing bolt M4 12 Bearing fixing bolts M5 10 Damper Apply screw lock when assembling 53926 FV 00 NOTE Remove the damper from the spline nut because it is bonded Step3 Remov...

Page 134: ...53928 FV 00 Step7 Install the R axis ball spline Installation of R axis ball spline Bonding Step 7 Damper 53929 FV 00 NOTE Attach the damper to the spline nut as shown on the right Use three bond ins...

Page 135: ...Chapter 10 Robot cable replacement Contents 1 Robot cable replacement 10 1...

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Page 137: ...iver 41mm spanner Removal Disassemble using the following procedure Step1 Turn off the controller Step2 Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being a...

Page 138: ...assemble by reversing the disassembly procedure Step1 Tighten the lock nut and clamp Step2 Secure the round terminal and connect the connector NOTE Refer to the installation manual Chapter 8 1 3 Robot...

Page 139: ...Chapter 11 Maintenance parts Contents 1 Consumable parts 11 1 2 Basic specification 11 2...

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Page 141: ...11 Maintenance parts 11 1 1 Consumable parts Consumable part Q ty Remarks KDS M4843 01 1 Machine harness R6YXE400 KDS M4843 10 1 Machine harness R6YXE610 KDS M4843 20 1 Machine harness R6YXE710...

Page 142: ...andard cycle time 3 0 41s 0 39s 0 42s R axis tolerable moment of inertia 4 0 05kgm2 0 3kgm2 User wiring 0 2sq 10 0 2sq 20 User tubing 4 3 6 3 Travel limit 1 Soft limit 2 Mechanical stopper X Y Z axis...

Page 143: ...ears as a suffix to the catalog number on the front cover manual Cat No I240E EN 01 Revision code The following table outlines the changes made to the manual during each revision Revision code Date De...

Page 144: ...DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH...

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