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1. Absolute reset
The X series robots only require the absolute reset to be performed once
when the robot is introduced.
Once the absolute reset is performed, you do not need to reperform it when
the power is turned on next time.
Set the origin position while referring to absolute reset methods in "3. Ad-
justing the origin" in Chapter 4 of this manual and in "Absolute Reset" of
the "OMRON Robot Controller User's Manual".
Set the origin position with the absolute reset.
2. Affixing the origin position sticker
Set in emergency stop when absolute reset is complete, and immediately af-
fix the origin point sticker according to instructions in "6. Affixing Stickers
for Origin Positions, Movement Directions and Axis Names" in Chapter 4 of
this manual.
3. Setting the reference coordinates
Set the reference coordinates while referring to instructions in "5. Setting the
Reference Coordinates" in Chapter 4 of this manual and also to "Setting the
Reference Coordinates" in the "OMRON Robot Controller User's Manual".
Robot malfunctions (vibration, noise) may occur if the reference coordinates
are not set correctly.
Even though there is no problem with the robot, the following error messages
are issued when the robot and controller are connected and power first turned
on.
(Actual error messages may differ according to how the robot and controller
are connected.)
Error messages issued when robot & controller are connected (YRC)
17.81 : D?.ABS.battery wire breakage
17.83 : D?.Backup position data error 1
17.85 : D?.Backup position data error 2
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
etc.
Error messages issued when robot & controller are connected (YRC)
17.81 : D?.ABS.battery wire breakage
17.83 : D?.Backup position data error 1
17.85 : D?.Backup position data error 2
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
etc.
2. If the X, Y or R axis rotation angle is small.
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 bear-
ing, 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
NEVER ENTER THE ROBOT MOVEMENT RANGE ONCE THE ROBOT
SERVO IS TURNED ON AS THIS IS EXTREMELY HAZARDOUS.
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...