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CHAPTER
4
Adjustment
1 Overview ............................................................................................4-1
2 Safety Precautions ..............................................................................4-1
3 Adjusting the origin ............................................................................4-2
3-1 Absolute reset method...................................................................................4-3
3-1-1
Sensor method (X-axis, Y-axis, and R-axis) ............................................... 4-3
3-1-2
Mark method (X-axis, Y-axis, and R-axis) .................................................. 4-4
3-1-3
Stroke end method (Z-axis) ......................................................................... 4-4
3-2 Machine reference .........................................................................................4-5
3-3 Absolute reset procedures .............................................................................4-6
3-3-1
Sensor method (X-axis, Y-axis, and R-axis) ............................................... 4-6
3-3-2
Mark method (X-axis, Y-axis, and R-axis) .................................................. 4-8
3-3-2-1
Absolute reset with servo on (re-reset) ................................................... 4-9
3-3-2-2
Absolute reset with servo off (re-reset) ................................................. 4-11
3-3-2-3
Absolute reset with servo on. (new reset) ............................................ 4-13
3-3-2-4
Absolute reset with servo off. (new reset) ............................................ 4-16
3-3-3
Stroke end method (Z-axis) ....................................................................... 4-22
3-4 Changing the origin position and adjusting the machine reference ................4-23
3-4-1
Sensor method ........................................................................................... 4-24
3-4-1-1
R6YXH250, R6YXH350, R6YXH400 ................................................. 4-24
3-4-2
Mark method ............................................................................................. 4-32
3-4-3
Stroke end method ..................................................................................... 4-33
3-4-3-1
R6YXH250, R6YXH350, R6YXH400, R6YXX1200 ......................... 4-33
4 Setting the Soft Limits .....................................................................4-37
5 Setting the Standard Coordinates .....................................................4-40
6 Affixing Stickers for Origin Positions,
Movement Directions and Axis Names ............................................4-41
7 Removing the Robot Covers ............................................................4-43
8 Adjusting the Timing Belt Tension ..................................................4-46
8-1 Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400) ............4-47
8-2 Adjusting the belt tension (R6YXX1200) ..................................................4-49
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Страница 218: ...7 6 CHAPTER 7 Specifications...
Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...