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4-28
CHAPTER 4 Adjustment
2-2 Changing the Y-axis origin position
The method to change the Y-axis origin position is as follows.
1) Prepare the necessary tools.
• Hex wrench set
2) Check that no one is inside the safeguard enclosure and then turn on the
controller.
3) Perform the absolute reset from outside the safeguard enclosure.
Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.
4) Place a sign indicating that the robot is being adjusted in order to keep
others from operating the controller or operation panel.
5) Turn off the controller and enter the safeguard enclosure.
6) Use the hex wrench to loosen two setscrews which fasten the dog ring of
the Y-axis joint area. (See Fig. 4-7.)
7) Turn the dog ring to move the sensor detection area (dog) on the dog ring
to the desired origin position.
8) Tighten the setscrews to fasten the dog ring.
9) Go out of the safeguard enclosure, and check that no one is inside the safe-
guard enclosure. Then turn on the controller.
10) Perform the absolute reset from outside the safeguard enclosure.
11) After the absolute reset is completed, read the machine reference value
displayed on the PB.
12) If the machine reference value is in the range between 40 and 60 (recom-
mended range), then the origin position has been completely changed.
If it is outside the recommended value, then adjust the machine reference
by referring to "2-1 Adjusting the Y-axis machine reference".
CAUTION
IF THE ORIGIN POSITION HAS BEEN CHANGED, THEN THE ABSOLUTE
RESET MUST BE PERFORMED, THE MACHINE REFERENCE MUST BE
ADJUSTED, AND THE STANDARD COORDINATE AND POINT DATA
MUST BE RESET.
CAUTION
IT IS SUFFICIENT TO LOOSEN THEM. IT IS NOT NECESSARY TO
COMPLETELY REMOVE THEM.
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...