![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981060.webp)
3-20
CHAPTER 3 Installation
6
Attaching The End Effector
6-1
R-axis tolerable moment of inertia and acceleration coefficient
1) The moment of inertia of a load (end effector and workpiece) that can be
attached to the R-axis is limited by the strength of the robot drive unit and
residual vibration during positioning. It is therefore necessary to reduce the
acceleration coefficient in accordance with the moment of inertia.
2) The R-axis tolerable moment of inertia and the acceleration coefficient
versus R-axis moment of inertia for each robot model are shown in Fig.
3-10 to Fig. 3-78 on the subsequent pages. The symbols A
X
, A
Y
, and A
R
in
each figure respectively indicate the acceleration coefficients of the X-axis,
Y-axis and R-axis. The symbol I
R
(J
R
) is the moment of inertia of the load
around the R-axis and m is the tip mass.
Example: R6YXH250
Assume that the mass of the load installed to the R-axis is 1.5kg and the
moment of inertia around the R-axis is 0.02kgm
2
(0.2kgf·cm·sec
2
). 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 from
Fig. 3-11.
Be sure to select an optimum tip mass and acceleration coefficient param-
eters that meet the mass of the load and moment of inertia before using the
robot.
To make settings for the tip mass and acceleration coefficient, refer to the
separate "OMRON Robot Controller User's Manual".
3) Methods for calculating the moment of inertia of the load are shown in
Section 6-2, however, it is not easy to precisely figure out these values.
If a calculated value smaller than the actual moment of inertia is set, re-
sidual vibrations may occur. If this happens, reduce the acceleration coef-
ficient parameter even further.
CAUTION
THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE
MOMENT OF INERTIA AND ACCELERATION COEFFICIENTS
ACCORDING TO THE MANIPULATOR TIP MASS AND MOMENT OF
INERTIA. IF THIS IS NOT OBSERVED, PREMATURE END TO THE LIFE
OF THE DRIVE UNITS, DAMAGE TO THE ROBOT PARTS OR RESIDUAL
VIBRATION DURING POSITIONING MAY RESULT.
Содержание R6Y Series
Страница 2: ......
Страница 12: ......
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 38: ......
Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Страница 108: ......
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...
Страница 160: ......
Страница 162: ......
Страница 202: ......
Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Страница 204: ......
Страница 210: ......
Страница 212: ......
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...