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3-1

CHAPTER 3 Installation

1

Robot Installation Conditions

1-1

Installation environments

Be sure to install the robot in the following environments.

Items

Allowable ambient temperature

Allowable ambient humidity
Altitude

Ambient environments

Vibration

Air supply pressure, etc.

Working space

Specifications

0 to 40

°

C

35 to 85% RH (non condensation)
0 to 1000 meters above sea level

Avoid installing near water, cutting water, oil, dust, metallic chips and

organic solvent.

Avoid installation near corrosive gas and corrosive materials.
Avoid installation in atmosphere containing inflammable gas, dust or liquid.

Avoid installation near objects causing electromagnetic interference,

electrostatic discharge or radio frequency interference.

Do not subject to impacts or vibrations.

Below 0.58MPa (6.0kgf/cm

2

); clean dry air not containing deteriorated

compressor oil; filtration 40

µ

m or less

Allow sufficient space margin to perform jobs (teaching, inspection,

repair, etc.)

For detailed information on how to install the robot controller, refer to the sepa-

rate "OMRON Robot Controller User's Manual".

WARNING

AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT
CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR
HUMIDITY, OR IN ENVIRONMENTS WHERE WATER, CORROSIVE
GASES, METALLIC POWDER OR DUST ARE GENERATED.
MALFUNCTION, FAILURE OR SHORT CIRCUITS MAY OTHERWISE
RESULT.

WARNING

• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN
ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES
ARE PRESENT.

• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING
INFLAMMABLE GAS, DUST OR LIQUIDS. EXPLOSIONS OR FIRE COULD
OTHERWISE RESULT.

WARNING

AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO
ELECTROMAGNETIC INTERFERENCE, ELECTROSTATIC DISCHARGE
OR RADIO FREQUENCY INTERFERENCE. MALFUNCTION MAY
OTHERWISE OCCUR.

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Содержание R6Y Series

Страница 1: ...EN 01 R6Y X series USER S MANUAL Cat No I145E EN 01 Note Specifications subject to change without notice Authorized Distributor Printed in Europe Cat No I145E EN 01 SCARA Robot R6Y X series USERS MANU...

Страница 2: ......

Страница 3: ...that there will not be any interference from any peripheral equip ment during the next absolute reset 2 Setting a position OTHER than the robot arm extended position the ori gin position adjusted at t...

Страница 4: ...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 message...

Страница 5: ...ve a two joint manipulator consisting of an X axis arm and a Y axis arm and are further equipped with a vertical axis Z axis and a rotating axis R axis at the tip of the manipulator The X series robot...

Страница 6: ...firm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE...

Страница 7: ...tion environments 3 1 1 2 Installation base 3 3 2 Installation 3 5 2 1 Unpacking 3 5 2 2 Checking the product 3 6 2 3 Moving the robot 3 7 2 3 1 Moving the R6YXH250 R6YXH350 R6YXH400 3 7 2 3 2 Moving...

Страница 8: ...chanical Stopper Positions for Maximum Working Envelope 3 51 10 Stopping Time and Stopping Distance at Emergency Stop 3 57 10 1 R6YXH250 R6YXH350 R6YXH400 3 57 10 2 R6YXX1200 3 65 CHAPTER 4 Adjustment...

Страница 9: ...period 5 8 5 2 Basic replacement procedure for harmonic drive and precautions 5 10 5 2 1 R6YXH250 R6YXH350 R6YXH400 5 12 5 2 2 R6YXX1200 5 29 6 Replacing the Grease for RV Speed Reduction Gears R6YXX...

Страница 10: ...CHAPTER 7 Specifications 1 Manipulator 7 1 1 1 Basic specification 7 1 1 2 External view and dimensions 7 3 1 3 Robot inner wiring diagram 7 11 1 4 Wiring table 7 13...

Страница 11: ...sential Caution Items 1 2 3 Industrial Robot Operating and Maintenance Personnel 1 10 4 Robot Safety Functions 1 11 5 Safety Measures for the System 1 12 6 Trial Operation 1 13 7 Work Within the Safeg...

Страница 12: ......

Страница 13: ...necessary pages from the CD ROM version of the user s manual It is not possible to list all safety items in detail within the limited space of this manual So it is essential that the user have a full...

Страница 14: ...ide except from doors or panels equipped with safety interlocks The warning labels shown in Fig 1 1 are supplied with the robot and should be affixed to a conspicuous spot on doors or panels equipped...

Страница 15: ...in this manual Improper Installation or operation can result in serious injury or death Read user s owner s manual and all warning labels before operation WAR NING Fig 1 3 Warning label 3 4 Do not us...

Страница 16: ...R PRESSURE ETC IS SHUT OFF OR POWER FLUCTUATIONS OCCUR IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR MAY FLY OFF OR DROP THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING I...

Страница 17: ...DS IF PNEUMATIC EQUIPMENT IS DISASSEMBLED OR PARTS REPLACED WHILE AIR IS STILL SUPPLIED DO SERVICE WORK AFTER FIRST TURNING OFF THE CONTROLLER AND REDUCING THE AIR PRESSURE BEFORE REDUCING THE AIR PRE...

Страница 18: ...BE VERY DANGEROUS PLEASE CONSULT OMRON DEALER FOR CORRECTIVE ACTION WARNING BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN WHILE IT IS ROTATING WHEN REMOVING THE FAN COVER FOR I...

Страница 19: ...CTIVE WALL ALLOW A SPACE OF AT LEAST 100MM BETWEEN THE FAN VENT AND THE WALL TO ENSURE AIR FLOW AND COOLING EFFECTS CAUTION THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE MOMENT OF INERTIAAND ACCEL...

Страница 20: ...wer etc at an easy to see position so the operator will know whether the robot is merely stopped or is in emergency error stop 29 Clean work tools etc Work tools such as welding guns and paint nozzles...

Страница 21: ...or problem oc curs 4 Install noise prevention measures 5 Use methods for signaling operators of related equipment 6 Use methods to decide that an error has occurred and identify the type of error Impl...

Страница 22: ...ate training and also have the skills needed to perform the job correctly and safely They must read the user s manual carefully to understand its contents before at tempting the robot operation Tasks...

Страница 23: ...limited as needed by use of mechanical stoppers Excluding the R6YXH250 R6YXH350 and R6YXH400 On the Y axis arm mechanical stoppers are fixed at both ends of the maxi mum movement range The Z axis has...

Страница 24: ...gerous situations are more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be taken on the part of the system manufacturer according t...

Страница 25: ...oller 1 Is the robot securely and correctly installed 2 Are the electrical connections to the robot correct 3 Are items such as air pressure correctly supplied 4 Is the robot correctly connected to pe...

Страница 26: ...ter 4 4 Teaching For items 1 to 3 follow the precautions and procedure for each section To perform item 4 refer to the description in 2 below 2 Teaching When performing teaching within the safeguard e...

Страница 27: ...2 Observe the following during automatic operation or in cases where an er ror occurs 1 After automatic operation has started check the operation status and warning lamp to ensure that the robot is in...

Страница 28: ...ge of time natural wear and tear occurring during op eration natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not af fect the c...

Страница 29: ...MRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY W...

Страница 30: ......

Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...

Страница 32: ......

Страница 33: ...y at taching different types of end effector gripper to the end of the arm a wide range of tasks can be performed with high precision at high speeds The and signs show the direction of axis movement w...

Страница 34: ...m R axis speed reduction gear Warning label 1 End effector attachment Warning label 2 X axis speed reduction gear X axis arm X axis motor Z axis R axis pulley belt Warning label 3 User tubing 2 4 red...

Страница 35: ...R axis speed reduction gear Z axis support shaft User tubing 1 6 black User tubing 2 6 red User tubing 3 6blue Eyebolt installation position X axis movable mechanical stopper Machine harness Ball scr...

Страница 36: ...ller YRC For more details refer to the separate OMRON Robot Controller User s Manual PB MOTOR XM YM ZM RM PWR S R V SAFET Y COM STD DIO ROB I O ZR OP 1 OP 3 OP 2 OP 4 RGEN ACIN N P N1 L1 L N SE L BATT...

Страница 37: ...R6YXH250 Z150 R6YXH350 Z150 R6YXH400 Z150 Robot initialization number list Origin sensor model CAUTION ABSOLUTE RESET MUST BE PERFORMED AFTER REINITIALIZING THE CONTROLLER BEFORE REINITIALIZING THE C...

Страница 38: ......

Страница 39: ...vs moment of inertia R6YXH250 3 22 6 1 2 Acceleration coefficient vs moment of inertia R6YXH350 3 23 6 1 3 Acceleration coefficient vs moment of inertia R6YXH400 3 24 6 1 4 Acceleration coefficient vs...

Страница 40: ...the plus direction stopper 3 49 8 4 Overrun amounts during impacts with X Y and Z axis additional mechanical stoppers 3 50 9 Working Envelope and Mechanical Stopper Positions for Maximum Working Envel...

Страница 41: ...6 0kgf cm2 clean dry air not containing deteriorated compressor oil filtration 40 m or less Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on ho...

Страница 42: ...3 2 CHAPTER 3 Installation WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE MANIPULATOR TO FALL OVER...

Страница 43: ...kgfm N kgf 305 31 56 6 40 4 330 34 56 6 40 4 391 40 56 6 40 4 336 1029 105 108 FXmax MXmax FZmax R6YXX1200 3293 11 Fzmax Fxmax Load Mxmax Fig 3 1 Maximum reaction force applied during operation 2 The...

Страница 44: ...THE INSTALLATION SURFACE PRECISION IS INSUFFICIENT CAUTION IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE OR A THIN METALLIC PLATE IS ATTACHED TO THE INSTALLATION BASE VIBRATION RESONAN...

Страница 45: ...t manipulator Case Robot controller and accessories R6YXX1200 Robot manipulator Arm clamping stay Used only for transportation Remove after installation Fig 3 2 Packed state WARNING THE ROBOT AND CONT...

Страница 46: ...N P N1 L1 L N SE L BATT ZR XY BATT ROB XY I O 13 14 EXT E S TOP ERR YRC CD ROM User sManual Robot manipulator X series STD DIO connector x 1 Power plug x 1 Terminator x 1 Warning label x 1 Origin pos...

Страница 47: ...installation holes 2 Holding the support parts as shown in the figure with both hands place the robot on the installation base and secure it temporarily by tightening the bolts For tightening torque t...

Страница 48: ...movement range 4 Screw the two eyebolts securely into the tapped hole on the machined bear ing surface of the X axis arm WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT...

Страница 49: ...ng caution to keep the balance of the robot and avoid subjecting it to any strong vibrations and shocks operate the hoist carefully to move to the installation base The angle between each rope and the...

Страница 50: ...essupplied with the robot Tightening toeque 4 5N m 46kgf cm Hoist hook Rope 45 or more Eyebolt 2 pieces supplied with the robot Bolt M16 25 R6YXX1200 Tightening toeque 71N m 720kgf cm Pallet supplied...

Страница 51: ...in installation base Iron installation base Bolt diameter 1 5 or more Aluminum installation base Bolt diameter 3 or more Installation base Hex socket head bolt Fig 3 6 Installing the robot WARNING WHE...

Страница 52: ...if it malfunctions might make contact with the power supply the user must provide proper grounding on his own responsibility The X series robots do not have a ground terminal for this purpose 3 For de...

Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...

Страница 54: ...E IDENTICAL SHAPES DO NOT CONFUSE THESE CONNECTORS WHEN MAKING CONNECTIONS WRONG CONNECTIONS MAY RESULT IN MALFUNCTION AND HAZARDOUS SITUATIONS WARNING IF THE CONNECTOR INSTALLATION IS INADEQUATE OR I...

Страница 55: ...t side connectors YRC controller XM YM ZM RM ROBI O XY ROBI O ZR XM YM ZM RM XY ZR Fig 3 8 Robot cable connections WARNING LAY OUT THE ROBOT CABLES SO AS TO KEEP THE OPERATOR OR ANY OTHER PERSON FROM...

Страница 56: ...ons 30V 1 5A 0 2mm2 Yes User Wiring Rated voltage Allowable current Nominal cross section area of conductor Shield User Tubing Maximum pressure Outer diameter inner diameter Fluid 0 58MPa 6Kgf cm2 4mm...

Страница 57: ...let Grey Green Green Robots models with non standard specifications may have different wiring colors 2 R6YXX1200 Connector pins 1 to 20 can be used Pin 25 is connected to a shield wire and cannot be u...

Страница 58: ...YXH250 R6YXH350 R6YXH400 D sub connector on arm side As viewed from solder side D sub connector on base side As viewed from solder side 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 1...

Страница 59: ...NECTOR FOR USER WIRING AND THE TUBE ATTACHED TO THE BULKHEAD UNION FOR USER TUBING WILL NOT INTERFERE WITH THE ROBOT MOVEMENT ENTANGLE AROUND THE ROBOT OR FLAP AROUND DURING OPERATION WIRING AND TUBIN...

Страница 60: ...inertia around the R axis is 0 02kgm2 0 2kgf cm sec2 When the tip mass parameter is set to 2kg the robot can be operated by reducing the X Y and R axis acceleration coefficients to 60 as can be seen f...

Страница 61: ...EN THE X Y OR R AXIS MOVES IF THIS HAPPENS REDUCE THE X Y OR R AXIS ACCELERATION TO AN APPROPRIATE LEVEL CAUTION IF THE MOMENT OF INERTIA IS TOO LARGE VIBRATION MAY OCCUR ON THE Z AXIS DEPENDING ON IT...

Страница 62: ...0 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 01 0 1 Fig 3 10 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 01 0 1 Fig 3 11 m...

Страница 63: ...0 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 005 0 05 Fig 3 13 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 004 0 04 Fig 3 14...

Страница 64: ...kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 Fig 3 16 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 Fig 3 17 m 2kg...

Страница 65: ...5 2 0 20 2 5 25 0 1 1 0 Fig 3 19 m 0 to 5kg AX AY 100 80 60 40 20 0 IR kgm2 JR kgf cm sec2 0 0 5 5 1 0 10 1 5 15 2 0 20 2 5 25 0 1 1 0 AR 100 80 60 40 20 0 IR kgm2 JR kgf cm sec2 0 0 5 5 1 0 10 1 5 15...

Страница 66: ...m 16 to 20kg AX AY 100 80 60 40 20 0 IR kgm2 JR kgf cm sec2 0 0 5 5 1 0 10 1 5 15 2 0 20 2 5 25 0 15 1 5 AR 100 80 60 40 20 0 IR kgm2 JR kgf cm sec2 0 0 5 5 1 0 10 1 5 15 2 0 20 2 5 25 0 15 1 5 Fig 3...

Страница 67: ...m 31 to 35kg IR kgm2 JR kgf cm sec2 AX AY 100 80 60 40 20 0 0 0 5 5 1 0 10 1 5 15 2 0 20 2 5 25 1 2 12 0 AR 100 80 60 40 20 0 IR kgm2 JR kgf cm sec2 0 0 5 5 1 0 10 1 5 15 2 0 20 2 5 25 0 3 3 0 Fig 3 2...

Страница 68: ...2 1 Moment of inertia for material particle The equation for the moment of inertia for a material particle that has a ro tation center such as shown in Fig 3 79 is as follows This is used as an appro...

Страница 69: ...Density kg m3 kg cm3 g Gravitational acceleration cm sec2 m Mass of cylinder kg W Weight of cylinder kgf kgf cm sec2 kgm2 Fig 3 30 4 Moment of inertia for prism The equation for the moment of inertia...

Страница 70: ...eleration cm sec2 m Mass of cylinder kg W Weight of cylinder kgf kgf cm sec2 kgm2 Fig 3 32 In the same manner the moment of inertia of a cylinder as shown in Fig 3 84 is given by W 4g Eq 3 6 D 4 h 3 2...

Страница 71: ...three factors assuming that the load material is steel and its density is 0 0078kg cm3 10cm 2cm 2cm R axis 1cm 1cm 2cm 2cm 4cm 6cm 4cm Stay Chuck Workpiece Fig 3 35 1 Moment of inertia of the stay Fr...

Страница 72: ...4cm R axis 3 Moment of inertia of workpiece When the workpiece form resembles that shown in Fig 3 89 the weight of the workpiece Ww is Ww D2 h 0 0078 22 4 4 4 0 098 kgf The moment of inertia of the w...

Страница 73: ...model When checking end effector operation refer to 6 Trial Operation in Chapter 1 Fig 3 39 1 M16 2 depth25 Support shaft clamp plate 25 0 01 0 02 39 69 45 47 8 R6YXX1200 Z axis tip shape 10 0 2 0 Spl...

Страница 74: ...max Fig 3 40 Maximum load applied to end effector attachment CAUTION THE HORIZONTAL HOLE PROVIDED IN THE SPLINE IS FOR ATTACHING A USER TOOL OR R AXIS ROTATION DURING DIRECT TEACHING DO NOT INSERT A P...

Страница 75: ...e 4 5 46 12 Tightening torque Hole diameter mm 0 018 0 0 018 0 0 018 0 25 760 74 0 2 or more M10 or lager 0 01 Hole diameter Bolt Slot Spline shaft Tapped hole End effector or stay Fig 3 41 WARNING TH...

Страница 76: ...OT COME OFF WHEN THE LOADS LISTED IN TABLE 3 1 ARE APPLIED WARNING THE TAPPED HOLE SEE FIGS 3 39 AND 3 41 PROVIDED ON THE LOWER PART OF THE END EFFECTOR ATTACHMENT SHOULD BE USED ONLY FOR PREVENTING T...

Страница 77: ...he accelerations Amax and AXYmax become larger by an amount equal to the offset versus the arm length When the R axis rotates during operation this ac celeration ARmax must be taken into account Table...

Страница 78: ...rfere with peripheral units then the movement range can be limited as outlined below The X axis mechanical stopper positions may slightly differ depending on ma chining precision WARNING ALWAYS TURN O...

Страница 79: ...ve the X axis mechanical stoppers installed as shown in Fig 3 43 to Fig 3 45 Then reinstall the mechanical stoppers at the positions that deter mine the desired movement range by tightening them to th...

Страница 80: ...40 CHAPTER 3 Installation 3 2 8 53 78 103 128 Tapped hole for stopper installation Y axis mechanical stopper X axis mechanical stopper Fig 3 43 Mechanical stopper positions and movement range R6YXX120...

Страница 81: ...on of X axis plus or minus direction or in both directions 1 1 KN3 M2197 001 1 90112 10J045 Stopper damper Bolt 1 99712 10600 KN3 M2197 001 90112 10J045 99712 10600 99712 10600 Nut Stopper damper Bolt...

Страница 82: ...imum movement position in Z axis plus direction 1 Stopper position in Z axis minus direction 1 Maximum movement position origin position in Z axis minus direction 1 158 mm 150 mm 5 mm 0 mm 158 L1 mm 1...

Страница 83: ...g envelope Z axis working envelope in plus direction Z axis working envelope in minus direction 16384 150 L1 L2 12 683 150 L1 L2 mm 0 5 mm L1 minimum value 11 L2 minimum value 12 R6YXH250 R6YXH350 R6Y...

Страница 84: ...r in only one direction of the X axis do not remove the standard stopper If it is removed there will be no stopper on the opposite side Only when changing the stopper posi tion in both directions remo...

Страница 85: ...kgf cm Place the damper between the bolt head and nut and then tighten the nut to secure the parts to the arm side Plus direction Minus direction Remove the tapped hole plug screw Stopper added in X a...

Страница 86: ...time Depending on the relation to the Z axis machine reference adjustment L2 in the Z axis minus direction stopper in Table 3 6 will be a position at 3mm intervals such as approxi mately 12mm 15mm etc...

Страница 87: ...ovement equals 100 13 Repeat the same procedure from step 6 until the machine reference is within the allowable range 14 When the machine reference is set within the allowable range go out of the safe...

Страница 88: ...llation Plus direction stopper Minus direction stopper e Apply adhesive to the upper surface of q and bond e to q q Move up the urethane damper r wTightening torque 4 5Nm 46Kgf cm Minus direction Plus...

Страница 89: ...crew and bond it to the upper surface of q using adhesive Use ThreeBond 1739 instant adhesive as the adhesive Fully degrease the bonding surfaces before applying the ad hesive 8 Go out of the safeguar...

Страница 90: ...ot strikes the X axis or Y axis mechanical stopper or another object or when the R axis collides with an object speed reduction gears are locked while being meshed if the collision impact is large If...

Страница 91: ...3 47 to Fig 3 50 5 150 0 12 1 4 0 1 1 5 R86 R250 R125 1 4 0 1 1 5 85 140 85 1 4 2 1 3 2 R250 R81 R125 1 4 2 1 3 2 59 140 59 R6YXH250 Z axis mechanical stopper position Working envelope Manipulator in...

Страница 92: ...140 99 99 R6YXH350 Z axis mechanical stopper position Interference position a Base flange b Base rear side Working envelope Xand Y axismechanical stopper positions maximum working envelope Manipulato...

Страница 93: ...1 3 2 82 82 140 R6YXH400 Z axis mechanical stopper position Working envelope Manipulator interference area Xand Y axismechanical stopper positions maximum working envelope Manipulator interference ar...

Страница 94: ...R600 152 1 2 8 R155 a R83 b R 1 7 0 c Interference position a Base flange b Base rear side c Base R6YXX1200 Z axis mechanical stopper position Working envelope Xand Y axismechanical stopper positions...

Страница 95: ...base rear panel and base 2 Z axis Do not attempt work outside the working envelope In particular do not at tempt work in the area between the working envelope and mechanical stop per position Mechani...

Страница 96: ...axis mechanical stopper or an other object or when the R axis collides with an object speed reduction gears are locked while being meshed if the collision impact is large If this happens please conta...

Страница 97: ...after a stop signal is initiated when the robot arms are fully extended while 3 types of tip mass 33 66 and 100 of maximum payload are loaded 10 1 R6YXH250 R6YXH350 R6YXH400 XY axis stopping time sec...

Страница 98: ...axis 2kg XY axis 3kg XY axis Fig 3 53 XY axis minus direction stopping time for R6YXH250 0 10 20 30 40 50 60 70 80 90 100 Operation speed XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90...

Страница 99: ...kg XY axis 2kg XY axis 3kg XY axis Fig 3 55 XY axis plus direction stopping time for R6YXH350 XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90 100 Operation speed 0 10 20 30 40 50 60 70 80...

Страница 100: ...g XY axis 2kg XY axis 3kg XY axis Fig 3 57 XY axis minus direction stopping time for R6YXH350 0 10 20 30 40 50 60 70 80 90 100 Operation speed XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80...

Страница 101: ...1kg XY axis 2kg XY axis 3kg XY axis Fig 3 59 XY axis plus direction stopping time for R6YXH400 XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90 100 Operation speed 0 10 20 30 40 50 60 70 8...

Страница 102: ...1kg XY axis 2kg XY axis 3kg XY axis Fig 3 61 XY axis minus direction stopping time for R6YXH400 XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90 100 Operation speed 0 10 20 30 40 50 60 70...

Страница 103: ...005 0 01 0 015 0 02 0 025 0 03 0 035 0 04 0 045 0 05 1kg Z axis 2kg Z axis 3kg Z axis Fig 3 63 Z axis stopping time for R6YXH250 and R6YXH350 0 10 20 30 40 50 60 70 80 90 100 Operation speed Z axis st...

Страница 104: ...time sec 0 0 005 0 01 0 015 0 02 0 025 0 03 0 035 0 04 0 045 0 05 1kg Z axis 2kg Z axis 3kg Z axis Fig 3 65 Z axis stopping time for R6YXH400 Z axis stopping distance mm 0 10 20 30 40 50 60 70 80 90 1...

Страница 105: ...ration speed 16 5kg XY axis 33kg XY axis 50kg XY axis Fig 3 67 XY axis stopping time for R6YXX1200 XY axis stopping rotation angle 0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 Ope...

Страница 106: ...time sec 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 16 5kg Z axis 33kg Z axis 50kg Z axis Fig 3 69 Z axis stopping time for R6YXX1200 Z axis stopping distance mm 0 10 20 30 40 50 60 70 80 90 100 Operation...

Страница 107: ...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 refer...

Страница 108: ......

Страница 109: ...g the robot is being adjusted to prevent others from touching the controller switch programming box or operation panel 3 If a safeguard enclosure has not yet been provided right after installation of...

Страница 110: ...connected This is the status when shipped from the factory d Robot generation was changed e Parameters were initialized f Axis parameters Origin shift Origin method Origin direction or Motor direction...

Страница 111: ...GING THE ORIGIN POSITION AFTER CHANGING THE ORIGIN POSITION DO NOT USE THE PREVIOUS POINT DATA WARNING SERIOUS INJURY MIGHT OCCUR FROM PHYSICAL CONTACT WITH THE ROBOT DURING OPERATION NEVER ENTER WITH...

Страница 112: ...hanical stopper and stroke end is detected CAUTION USE THE PROGRAMMING BOX PB OR THE RS 232C PORT WHEN USING THE MARK METHOD FOR ABSOLUTE RESET YOU CANNOT USE DEDICATED INPUTS TO PERFORM ABSOLUTE RESE...

Страница 113: ...the origin signal detection The machine ref erence value is displayed on the optional PB screen Unit Machine reference value B A 100 Machine reference Origin signal detection Origin signal Resolver P...

Страница 114: ...5 Select the axis for absolute reset X axis M1 Y axis M2 Z axis M3 R axis M4 To perform absolute reset on all axes select ALL with the F11 LOWER F1 key 6 Check that the absolute reset axis must be pos...

Страница 115: ...achine reference value is outside the recommended range then the next absolute reset may not be properly performed In this case refer to 3 4 Changing the origin position and adjusting the machine refe...

Страница 116: ...et position The origin position mark can be seen from outside the robot movement range The origin position mark cannot be seen from outside the robot movement range The servo drive can safely guide th...

Страница 117: ...move to a position where the origin position sticker can be seen Never enter within the robot movement range at this time 4 Set the controller to MANUAL mode if not in MANUAL mode 5 Press the F13 LOW...

Страница 118: ...appears so check that there are no obstacles in the robot movement area and press the F4 YES key 2 After absolute reset is complete check that the machine reference value shown on the PB is between 26...

Страница 119: ...ve the robot manually to a position where the origin position marks are aligned with each other CAUTION THE Z AXIS M3 USES THE STROKE END METHOD TO DETECT THE ORIGIN POSITION BY HAVING THE AXIS MAKING...

Страница 120: ...SOLUTE RESET CAN BE PERFORMED MOVE THE ROBOT A LITTLE BIT AT A TIME WHILE VIEWING THE PB SCREEN SO THAT THE ORIGIN POSITION MARKS MATCH EACH OTHER THEN PRESS THE ENTER KEY AT A POSITION WHERE THE SELE...

Страница 121: ...position where the absolute reset will be newly performed and shift your own position while holding the PB so you can see the joint area Do not enter within the robot movement range 4 Set the control...

Страница 122: ...es in the robot movement area and press the F4 YES key 2 After absolute reset is complete check that the machine reference value shown on the PB is between 26 and 74 If the machine reference value is...

Страница 123: ...nd then release the emergency stop button on the controller CAUTION THE DEVIATION BETWEEN THE ORIGIN POSITION MARKS MUST BE WITHIN A SPECIFIED RANGE REPEATABILITY TOLERANCE WHEN PERFORMING THE ABSOLUT...

Страница 124: ...s M2 Z axis M3 R axis M4 To perform absolute reset on all axes select ALL with the F11 LOWER F1 key 7 Move the robot manually to the position for performing absolute reset 8 After moving the robot to...

Страница 125: ...AXIS DOES NOT SHOW A FIGURE BETWEEN 26 AND 74 THEN AN ERROR MESSAGE ABS RESET POSITION ERROR APPEARS DURING THE NEXT STEP AND ABSOLUTE RESET IS DISABLED CAUTION IF ALL WAS SELECTED IN 6 THEN THE X AX...

Страница 126: ...he emergency stop button on the controller CAUTION BE CAREFUL NOT TO LET THE ROBOT JOINTS MOVE WHILE ATTACHING THE ORIGIN STICKERS WHEN THE SERVO IS OFF THE ROBOT JOINTS MAY SOMETIMES MOVE DUE TO TENS...

Страница 127: ...H350 R6YXH400 Axis X axis Y axis R axis Origin position repeatability tolerance 0 37 0 43 0 90 Origin position repeatability tolerance mm 0 64 0 58 0 89 R6YXX1200 Repeatability tolerance Origin positi...

Страница 128: ...4 20 CHAPTER 4 Adjustment Origin position mark Setting on the user side Fig 4 5 Origin position mark setting example R6YXH250 R6YXH350 R6YXH400...

Страница 129: ...4 21 CHAPTER 4 Adjustment Setting on the user side Origin position sticker Origin position sticker Setting on the user side Fig 4 6 Origin position mark setting example R6YXX1200...

Страница 130: ...key to select RST ABS 3 4 5 Select M3 Z axis 6 Since the message Reset ABS encoder OK is displayed check that there are not any obstacles in the robot movement range and press the F4 key YES 7 After...

Страница 131: ...ON THE MAIN BODY OF THE ROBOT AFTER THE MACHINE REFERENCE IS ADJUSTED BE SURE TO CHECK THAT THE ORIGIN POSITION HAS NOT DEVIATED IF THE ORIGIN POSITION CHANGES AFTER THE MACHINE REFERENCE HAS BEEN AD...

Страница 132: ...ing adjustment procedure 5 Place a sign indicating that the robot is being adjusted in order to keep others from operating the controller or operation panel 6 Turn off the controller and enter the saf...

Страница 133: ...reset is completed read the machine reference value dis played on the PB 14 If the machine reference value is in the range between 40 and 60 recom mended range then the machine reference has been com...

Страница 134: ...ensor 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 guar...

Страница 135: ...he reference mark at the current origin position on the Y axis joint area of the robot At this time be careful to prevent the origin position from deviating since the Y axis arm is touched 8 Use the h...

Страница 136: ...ensor 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 guar...

Страница 137: ...reference mark at the current origin position on the R axis area of the robot At this time be careful not to touch the tool at the tip of the robot arm so that the origin position does not shift 8 Us...

Страница 138: ...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...

Страница 139: ...ach on opposite sides Set screw One each on opposite sides R axis dog ring R axis dog R axis origin sensor Set screw One each on opposite sides Axis X Y R Movement amount mm for 100 of machine referen...

Страница 140: ...THE ORIGIN POSITION HAS BEEN CHANGED THEN THE ABSOLUTE RESET MUST BE PERFORMED AND THE STANDARD COORDINATE AND POINT DATA MUST BE RESET CAUTION MARK OFF THE REFERENCE MARK AT THE POSITION WHERE THE A...

Страница 141: ...ure and then turn on the controller 2 Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel 3 Perform the Z axis absolute reset To perform...

Страница 142: ...t tension see 8 Adjusting the Timing Belt Tension in Chapter 4 10 Go outside the safeguard enclosure 11 Check that no one is inside the safeguard enclosure and then turn on the controller 12 Perform t...

Страница 143: ...is motor again and make fine adjustment to the spline shaft height so that the adjustment machine reference value is within the absolute reset tolerance range Robot Model L R6YXH250 R6YXH350 R6YXH400...

Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...

Страница 145: ...where the mechanical stopper position cannot be changed reduce the soft limits to narrow the working envelope when the actual working range of the robot is small or the manipulator interferes with th...

Страница 146: ...ORIGIN POSITION FACTORY ADJUSTED AT SHIPMENT IS NOT COMPLETELY ALIGNED WITH THE FRONT FACE POSITION OF THE ROBOT WHEN INTRODUCING THE ROBOT BE SURE TO SET THE SOFT LIMITS WITH THE NUMBER OF PULSES FRO...

Страница 147: ...X Y and R axis movement angle the Z axis move ment distance and the number of pulses The tables below are for calculating resolver pulses with respect to the X Y and R axis movement angles and to the...

Страница 148: ...re while holding the PB Stay outside the robot movement range at this time 5 Make the standard coordinate settings while referring to methods for Setting the Standard Coordinates as explained in the O...

Страница 149: ...eep others from operating the controller switch 5 Enter the safeguard enclosure 6 Being careful not to move the origin positions attach stickers at conspicu ous points on matching sides of components...

Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...

Страница 151: ...crews used to fasten each cover are listed in Tables 4 4 to 4 5 Cover name Base robot pedestal rear cover Base robot pedestal front cover Y axis arm upper cover Screw No 1 2 3 4 5 Screw size M4x6 M4x6...

Страница 152: ...4 44 CHAPTER 4 Adjustment 3 M3x6 with washer Y axis upper cover 2 M4x6 Base front cover 4 M3x10 5 M3x16 1 M4x6 Base rear cover Fig 4 14...

Страница 153: ...Adjustment 1 M4x6 2 M4x6 Base front cover 3 M4x6 4 M4x6 X axis arm upper cover X axis arm under cover 5 M4x6 Y axis arm front cover Y axis arm side cover 6 M4x6 7 M4x6 Base rear cover 1 Base rear cov...

Страница 154: ...ig 4 17 Stay example WARNING THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER AUTOMATIC OPERATION SO BURNS MAY OCCUR IF THESE ARE TOUCHED BEFORE TOUCHING THESE PARTS TURN OFF THE CONT...

Страница 155: ...cular to the middle of the belt The other person checks the slack of the belt See Fig 4 16 and Fig 4 17 8 The correct load to be applied to the belt of each robot model and the re sulting slack are sh...

Страница 156: ...load applied to produce the specified slack is within the specified range of Table 4 7 the adjustment is okay If not repeat the above procedure from steps 1 to 3 9 After adjustment is complete tighte...

Страница 157: ...cular to the middle of the belt The other person checks the slack of the belt See Figs 4 16 and 4 17 9 The correct load to be applied to the belt of each robot model and the resulting slack are shown...

Страница 158: ...from steps 1 to 3 10 After adjustment is complete tighten the bolt q or w to the torque specified in Table 4 8 11 Reattach the harness clamp stay to the Y axis arm See Fig 4 19 Be careful not to allow...

Страница 159: ...axis belt specifications Robot model R6YXH250 R6YXH350 R6YXH400 R6YXX1200 Load N 1 9 to 2 3 1 9 to 2 3 6 8 to 8 1 Load kgf 0 19 to 0 23 0 19 to 0 13 0 69 to 0 83 Slack mm 2 1 2 8 6 0 Ref Beltvibration...

Страница 160: ......

Страница 161: ...acing the Grease for RV Speed Reduction Gears R6YXX1200 5 34 6 1 Replacement period 5 34 6 2 Recommended grease 5 34 6 3 Replacement procedure 5 35 6 3 1 Replacing the X axis grease first product to p...

Страница 162: ......

Страница 163: ...and procedures for the OMRON X series robots Periodic inspection includes Daily inspection 6 month inspection Replacement of speed reduction gear harmonic drive Replacing the grease for speed reducti...

Страница 164: ...nance procedure calls for operation of the robot stay outside the safeguard enclosure 5 Place a sign indicating the robot is being inspected to keep others from operating the controller switch program...

Страница 165: ...controller turned on 1 Check that no one is inside the safeguard enclosure and then turn on the controller 2 Place a sign indicating the robot is being inspected to keep others from operating the cont...

Страница 166: ...ller and then enter the safeguard enclo sure to perform the necessary work After adjustment or replacement is finished again review the checkpoints outlined in 1 and 2 above 2 If repair or parts repla...

Страница 167: ...GREASE WILL NOT COME IN CONTACT WITH THE EYES INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH SKIN BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH SKIN DO NOT TAKE ORALLY OR EAT...

Страница 168: ...the panel See 4 in Chapter 3 Every 6 month lubricate the Z axis ball screw nut with grease gun and the linear shaft spline shaft and ball screw shaft by hand after removing the old grease The specifie...

Страница 169: ...he fan cover Remove and clean if necessary 3 Adjustment and parts replacement 1 After inspection if you notice any adjustment or parts replacement is needed first turn off the controller and then ente...

Страница 170: ...ed 8 4 108 at ambient operating temperatures of 0 C to 40 C This means that the replacement period will differ depending on the following operating conditions If the robot operation duty ratio is high...

Страница 171: ...iodic Inspection Table 5 2 Bolt tightening torque Bolt size Tightening torque kgf cm Tightening torque N m M3 button head bolt 14 1 4 M4 set screw 20 2 0 M3 20 2 0 M4 46 4 5 M5 92 9 0 M6 156 15 3 M8 3...

Страница 172: ...T CONTACT WITH SKIN DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDR...

Страница 173: ...HE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE GREASE RECOMMENDED BY OMRON IS NOT USED CAUTION HARMONIC DRIVE DO NOT APPLY STRONG SHOCKS OR IMPACTS TO THESE PARTS SUCH AS WITH A HAMMER ALSO DO NOT...

Страница 174: ...te Harmonic drive SHF 20 50 KN3 M2110 001 S71 JIS KN3 M2159 000 Top of harmonic drive O ring Cross section diameter 1 50mm x Inner diameter 49 00mm KN3 M2143 000 For motor Cross section diameter 0 99m...

Страница 175: ...40L 8 pieces See Fig 5 1 M3 40 M6 14 Fig 5 1 O ring S71 KN3 M2159 000 Fig 5 2 7 Disconnect the connectors on the X axis motor power cable XM and re solver cable XP CAUTION AN O RING IS FITTED TO THE...

Страница 176: ...ate base 1 and base 2 See Fig 5 1 and Fig 5 3 M6 14 M5 12 Base 1 Base 2 Fig 5 3 9 Remove the bolts M5 12L 4 pieces securing the motor and remove the motor from base 1 See Fig 5 4 M5 12 Fig 5 4 CAUTION...

Страница 177: ...rmonic drive coated with harmonic grease into the O ring groove on the new harmonic drive Apply small amounts of Screw Lock to the bolts M3 20L 16 pieces and tighten them to secure the harmonic drive...

Страница 178: ...o secure the wave generator See Fig 5 6 16 Fit a new O ring to the motor and secure the motor to base 1 with the bolts M5 12L 4 pieces you removed earlier See Fig 5 4 17 Fasten base 1 to base 2 with t...

Страница 179: ...outside the safeguard enclosure 22 Check that no one is inside the safeguard enclosure and then turn on the controller CAUTION AFTER THE HARMONIC DRIVE IS REPLACED AN ABSOLUTE RESET MUST BE PERFORMED...

Страница 180: ...ter 0 80mmxInnerdiameter 45 40mm KN3 M257L 000 Supplied with harmonicdrive 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the contr...

Страница 181: ...from the motor shaft The wave generator is secured with an M3 set screws 2 pieces See Fig 5 10 9 Remove the Y axis harmonic drive installation bolts M3 40L 6 pieces M3 40 Fig 5 8 10 Remove the Y axis...

Страница 182: ...drive from the backside See Fig 5 8 CAUTION THE DOG RING IS USED FOR REASSEMBLY STORE IT WHERE THE WORK WILL NOT BE DISTURBED THE DOG RING IS PROVIDED WITH THE SETSCREWS BE CAREFUL TO AVOID LOSING THE...

Страница 183: ...erwise deviate from center Apply grease to sufficiently fill in the ball space Apply grease to entire oldham coupling Apply grease to the thickness equal to the ball diameter Circular spline M3 set sc...

Страница 184: ...e safeguard enclosure 22 Check that no one is inside the safeguard enclosure and then turn on the controller CAUTION AFTER THE HARMONIC DRIVE IS REPLACED AN ABSOLUTE RESET MUST BE PERFORMED AND THE ST...

Страница 185: ...x Inner diameter 37 10mm KN3 M181H 000 KN5 M181G 000 For wave generator Supplied with harmonicdrive VR18A KN3 M1886 000 2 Turn off the controller 3 Place a sign indicating that the robot is being ins...

Страница 186: ...ter removing the bearing refit the U nut to the top of the spline shaft to keep the spline shaft from falling out U nut Spline shaft Spline nut Fig 5 12 8 Remove the button bolts M3 20L 6 pieces on th...

Страница 187: ...curing the R axis motor plate at the top of the Y axis arm See Fig 5 15 M4 set screw Pulley R axis motor plate M3 18 M3 6 Fig 5 15 CAUTION AN O RING IS FITTED TO THE FASTENING PLATE SO BE CAREFUL NOT...

Страница 188: ...e from center Fit O ring supplied into this groove Harmonic drive will be damaged if O ring is caught out of groove O ring KN5 M181G 000 Remove the temporarily tightened bolts when assembling Keep the...

Страница 189: ...amounts of Screw Lock See Fig 5 17 At this point be careful to keep the spline shaft from coming off the spline nut CAUTION REMOVE ONLY THE FOUR BOLTS SHOWN IN FIG 5 16 AT THIS POINT NEVER REMOVE THE...

Страница 190: ...e you did to loosen it See Fig 5 11 and Fig 5 12 25 Attach the bearing mount plate to the holder and fasten them with the bolts you removed earlier M4 8L 4 pieces 26 Reattach the Y axis arm upper cove...

Страница 191: ...0 S90 JIS KN6 M1821 001 Crosssectiondiameter 1 30mmxInnerdiameter 66 50mm KN4 M2143 000 KN4 M257L 000 Lower part of harmonic drive O ring Crosssectiondiameter 1 25mmxInnerdiameter 37 50mm KN6 M1896 01...

Страница 192: ...ok spanner to remove the U nut on the spline shaft and then remove the bearing See Fig 5 20 Use a round steel rod with a diameter slightly smaller than 10mm Avoid using a square rod because the spline...

Страница 193: ...op of the Y axis arm See Fig 5 22 12 Loosen the pulley bolts M3 30L 4 pieces and remove the pulley fastened to the wave generator See Fig 5 22 13 Remove the harmonic drive installation bolts M4 45L 12...

Страница 194: ...or applying grease properly 18 Fit an O ring supplied with the harmonic drive coated with harmonic grease into the O ring groove on the new harmonic drive See Fig 5 23 Apply small amounts of Screw Loc...

Страница 195: ...ring Utilize the 10 through hole when tightening the U nut like you did to loosen it See Fig 5 20 24 Put the bearing into the holder and tighten the bolts M6 20L 4 pieces to secure the bearing mount p...

Страница 196: ...eplacement period is typically 20 000 hours of operation However if the robot operation duty ratio is higher or the robot is operated in environ ments at higher or lower temperatures the grease should...

Страница 197: ...BE CUT WHEN OPENING THE CONTAINER 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 TREA...

Страница 198: ...old grease from the X axis attach the air coupler PT1 8 into the screw hole where the plug was fitted and connect the air tube to the air coupler The old grease inside the X axis will be squeezed out...

Страница 199: ...ained in the next steps 8 Remove the plug on the front section A of the robot base and attach the grease nipple A MT8 1 there See Fig 5 28 Keep the removed plug as it will be used after replenishing g...

Страница 200: ...ttach the air coupler PT1 8 into the screw hole where the plug was fitted and connect the air tube to the air coupler The old grease inside the Y axis will be squeezed out by replen ishing new grease...

Страница 201: ...g on the underside section A of the X axis arm and attach the grease nipple A MT8 1 there See Fig 5 32 Keep the removed plug as it will be used after replenishing grease 9 Using the grease gun supply...

Страница 202: ......

Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...

Страница 204: ......

Страница 205: ...motion Using default arch position 2000 pulses From point P1 to P2 MOVE P P2 Z 0 Axis parameters Arch position M1 X axis arch position 2000 pulses M2 Y axis arch position 2000 pulses M3 Z axis arch po...

Страница 206: ...ositions in the program From point P1 to P2 and then to P3 ARCH 1 10000 X axis arch position pulses ARCH 2 20000 Y axis arch position pulses ARCH 3 20000 Z axis arch position pulses ARCH 4 20000 R axi...

Страница 207: ...closes WEIGHT 10 Changes the axis tip weight parameter to 10kg with work piece MOVE P P3 Z 0 In the above program the acceleration can be set to a higher level by reducing the axis tip weight paramete...

Страница 208: ...es MOVE P P2 TOLE 1 80 Returns the tolerance to the default value TOLE 2 80 TOLE 3 80 TOLE 4 80 MOVE P P3 When P2 is an escape point and does not need to be accurately positioned setting the tolerance...

Страница 209: ...on When all of the X Y Z and R axes enter the OUT effective position 10000 pulses prior to P2 the chuck starts closing By setting the OUT effective position larger the chuck starts closing while the r...

Страница 210: ......

Страница 211: ...CHAPTER 7 Specifications 1 Manipulator 7 1 1 1 Basic specification 7 1 1 2 External view and dimensions 7 3 1 3 Robot inner wiring diagram 7 11 1 4 Wiring table 7 13...

Страница 212: ......

Страница 213: ...Z axis R axis XY resultant Z axis R axis XY axes Z axis R axis R6YXH250 125mm 115 125mm 140 150mm 180 200W 100W 100W 100W 4 0m s 1 0m s 1020 s 0 01mm 0 01mm 0 005 R6YXH350 225mm 115 125mm 140 150mm 18...

Страница 214: ...g Outer diameter Travel limit Robot cable Weight Robot Model 1At constant ambient temperature XY 2 There are limitsto acceleration coefficient settings Axis specifi cations 3 5m option 5m 10m 20 cable...

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 227: ...1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 User signal line ZBK Shield Frame ground Brown Red Orange Shield 0 2mm2 Twisted pair Shield 0 2mm2 Twisted pair Orange 0 2mm2 Brown Gray Brown White Red White O...

Страница 228: ...ed pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair Shield Shield 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair Orange 0 2mm2 Brow...

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...

Страница 231: ...log number on the front cover of the manual Cat No I145E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revisio...

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