4
Adjusting the or
ig
in
4-2
1.1.1 Changing the X-axis reference value
R6YXE400
Step7
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 the reference value, turn the X-axis arm clockwise when viewed from the top of the robot.
Conversely, to decrease the reference value, turn the X-axis arm counterclockwise when viewed from
the top of the robot.
Step8
Secure the speed reduction gear temporarily.
Tighten the bolts while applying an appropriate torque so that the speed reduction gear and arm do
not deviate.
Step9
Remove the temporarily secured bolts, and then secure the speed reduction gear
temporarily with new bolts.
Replace the bolts one-by-one and take great care so that the speed reduction gear and arm do not
deviate.
Bolt M3 x 35, (OMRON’s part No.: 91312-03035) 12 pcs.
Step10
Secure the speed reduction gear.
Secure the speed reduction gear while referring to “2.1 Replacing the X-axis harmonic drive” in Chapter 5.
1.1.2 Changing the Y-axis reference value
R6YXE400
Step7
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 the reference value, turn the Y-axis arm counterclockwise when viewed from the top of the
robot. Conversely, to decrease the reference value, turn the Y-axis arm clockwise when viewed from
the top of the robot.
Step8
Secure the speed reduction gear temporarily.
Tighten the bolts while applying an appropriate torque so that the speed reduction gear and arm do
not deviate.
Step9
Remove the temporarily secured bolts, and then secure the speed reduction gear
temporarily with new bolts.
Replace the bolts one-by-one and take great care so that the speed reduction gear and arm do not
deviate.
Bolt M3 x 30, (OMRON’s part No.: 91312-03030) 12 pcs.
Step10
Secure the speed reduction gear.
Secure the speed reduction gear while referring to “2.2 Replacing the Y-axis harmonic drive” in Chapter 5.
Step 7
Changing the reference value
Turning the speed reduction gear clockwise will
increase the reference value.
Turning the speed reduction gear counterclockwise will
decrease the reference value.
Reference value decreases.
Reference value increases.
Bolt fixing X-axis reducer
Bolt fixing the Y-axis reducer
Y-axis
X-axis
23309-FV-01
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...
Page 2: ......
Page 6: ......
Page 8: ......
Page 10: ......
Page 14: ......
Page 16: ......
Page 20: ......
Page 30: ......
Page 50: ......
Page 90: ......
Page 92: ......
Page 104: ......
Page 108: ......
Page 110: ......
Page 124: ......
Page 135: ...Chapter 10 Robot cable replacement Contents 1 Robot cable replacement 10 1...
Page 136: ......
Page 139: ...Chapter 11 Maintenance parts Contents 1 Consumable parts 11 1 2 Basic specification 11 2...
Page 140: ......
Page 144: ...DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH...