![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981090.webp)
3-50
CHAPTER 3 Installation
15) Reattach the Y-axis arm cover.
8-4
Overrun amounts during impacts with X, Y and Z-axis addi-
tional mechanical stoppers
A urethane damper is installed to absorb the shock when an impact occurs
with the mechanical stopper, so a certain amount of overrun occurs when the
robot strikes the mechanical stopper. Use caution and take overrun into account
since the end effector may interfere with the robot body and peripheral equip-
ment or the robot body may interfere with the peripheral equipment.
Maximum overrun amounts are listed below (for normal operation, maximum
payload, maximum speed).
5mm
Lower end
2mm
Upper end
Z-axis
16
°
Y-axis
10
°
X-axis
Note: Here,
°
(deg.) is the overrun angle at the X-axis and Y-axis joints.
(1) When the robot 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 this hap-
pens, please contact our sales office or dealer.
(2) If the X-axis, Y-axis or Z-axis mechanical stopper is deformed or damaged
by impacts, please contact our sales office or dealer. Using the deformed or
damaged mechanical stopper is dangerous, so it must be replaced.
(3) After the robot strikes the Z-axis mechanical stopper, the stopper position
may shift, and so check the stopper position. If shifted, move the stopper to
the correct position and refasten it securely by following the assembly pro-
cedure.
WARNING
THE PLUS DIRECTION STOPPER WILL BECOME A LOAD, AND SO THE
Z-AXIS ACCELERATION MUST BE REDUCED AS SHOWN BELOW. IF
NOT REDUCED, THE SERVICE LIFE OF THE Z-AXIS DRIVE UNIT WILL
DECREASE.
Tip load
Z-axis acceleration
85%
3kg
90%
2kg
90%
90%
1kg
0kg
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...