Omron R6Y Series, Руководство пользователя

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CHAPTER 3 Installation
Here, working envelope and mechanical stopper positions for the maximum
working envelope of a robot are described using the R6YXH250 as an exam-
ple. Other robot models are the same.
1) X and Y axes
1. Do not attempt operation outside the working envelope. On the X series,
the origin can be set at any position. The working envelope described in
this manual is an area with the robot frontal reference.
2. Interference positions where a load may touch the robot within the work-
ing envelope and their radii are shown in the figure. Here, "a", "b" and
"c" are the respective interference positions with the base flange, base
rear panel, and base. Use caution not to allow the robot load to interfere
with any part of the robot.
3. Interference positions where a load might touch the robot when the robot
strikes the X-axis or Y-axis mechanical stoppers set for the maximum
working envelope and their radii are shown at the mechanical stopper
positions. Here, "a", "b" and "c" are the respective interference positions
with the base flange, 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. Mechanical stoppers are installed at both the upper and lower
ends of the movement range.
3) R-axis
The R-axis has no mechanical stoppers.
4) Robot overrun during impacts with mechanical stopper
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 equipment or the robot body may interfere with the peripheral
equipment. Maximum overrun amounts are listed below (for normal opera-
tion, maximum payload, maximum speed).
WARNING
THE ROBOT CABLE, USER WIRING OR TUBING MAY BE DAMAGED IF
THE ROBOT LOAD INTERFERES WITH THEM RESULTING IN
HAZARDOUS ROBOT MALFUNCTIONS. DO NOT OPERATE AT POINTS
WHERE THE LOAD MAY INTERFERE WITH THE ROBOT CABLE, USER
WIRING OR TUBING.
CAUTION
SINCE THE R-AXIS HAS NO MECHANICAL STOPPERS, MAKE CERTAIN
THAT THE END EFFECTOR WIRING AND TUBING DO NOT BECOME
ENTANGLED DURING OPERATION.