R6Y - XS series User´s Manual
Contents
1. 36 Use M8 bolt for installation 62 52 16h7 3 018 M8x1 25 Depth 15 314212 150 Z axis stroke Fig 4 1 R6YXSH300 4 4 CHAPTER 4 Specifications 93792 Use this when tightening M8 Z axis mechanical stopper screw at lower part Circlip for user tool positioning Spline shaft hollow Hollow diameter 67 41 36 616 Range 16h7 L 018 M8x1 25 Depth15 Z axis tip shape Base interference range Working envelope Use caution to prevent interference with installation wall Inverse type is installed upside down CHAPTER 4 Specifications 37 166 1 225 M 42 131 M4 ground terminal D sub connectori r user wiring D sub connector for user wiring No 1 to 10 No 1 to 10 y 100 140 User tubing 1 64 black User tubing 2 4 red User tubing 3 64 blue L 103 User tubing 1 64 black User tubing 2 64 red User tubing 3 64 blue 185 5 135 Use M8 bolt for installation 52 314212 E 16h7 3 018 M8x1 25 Depth 15 1150 Z axis stroke Fig 4 2 R6YXSH400 4 6 CHAPTER 4 Specifications 3 82 Use this when tightening M8 screw at lower part Z axis mechanical stopper Circlip for user tool positioning Spline shaft hollow Hollow diameter2. XY resultant 6 7m s 7 3m s 8 0m s Maximum speed Z axis 1 7m s 1 7m s 1 7m s R axis 600 s 600 s 600 s Repeatability 1 X Y axes 0 02mm 0 02mm 0 02mm Z axis 0 01mm 0 01mm 0 01mm R axis 0 005 0 005 0 005 Payload 20kg 20kg 20kg R axis tolerable moment of inertia 2 0 32kgm 3 2kgfcm s User wiring 20 cables 20 cables 20 cables User tubing Outer diameter 6x3 6x3 6x3 Travel limit 1 Soft limit 2 Mechanical limit XYZ axes Robot cable 3 5m option 5m 10m Weight 56kg 1 At constant ambient temperature XY 57kg X2 There are limits to acceleration coefficient settings 58kg CHAPTER 4 Specifications 1 2 External view and dimensions The drawing below is for the ceiling hanging robots The inverse type robots also have the same dimensions 7 112 2 17 37 gt lt 5 gt M4 ground terminal 42 131 D sub connector for user wiring No 1 to 10 D sub connector for user wiring No 1 to 10 User tubing 1 64 black User tubing 2 64 red User tubing 3 64 blue gt User tubing 1 44 black User tubing 2 64 red User tubing 3 64 blue amp 381 4290 187 4168 LO ga LO N
3. Robot controller and accessories Robot manipulator R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS 1000 Inverse type models Fig 2 1 Packed state 2 2 CHAPTER 2 Installation 2 2 Checking the product After unpacking check the product configuration and conditions The illustration below shows typical configurations for R6Y XS500 to R6YXS1000 ceiling hanging inverse type models which are different from standard models Z CAUTION IF THERE IS ANY DAMAGE DUE TO TRANSPORTATION OR INSUFFICIENT PARTS PLEASE NOTIFY YOUR OMRON SALES OFFICE OR DEALER IMMEDIATELY Controller YRC v 1 Robot R6YXS500 R6Y XS600 R6Y XS700 R6Y XS800 R6Y XS1000 WT 79 NR STD DIO connector x1 PB terminator x1 CD ROM User s Manual or User s Manual Warning label x1 Robot manipulator XS series gt D sub connector hood x2 22 Origin position stickers x2 R6YXS500 R6YXS600 x3 CO 9 Covers x2 YRC robot controller E Screws x4 Fig 2 2 Product configurations 2 3 CHAPTER 2 Installation ERI E EE EE EE EE IN EE fd 2 3 Moving the robot NX WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT DO NOT ALLOW ANY PART OF YOUR BODY TO ENTER THE AREA BENEATH THE ROBOT DURING WORK ALWAYS WEAR A HELMET SAFETY SHOES AND GLOVES DURING WORK To check the mass of each robot refer to 1 1 Basic specifications in Chapter 4 2 3 1 Moving t
4. 232mm may interfere with harness T 7301 Z axis 400mm stroke Recommended user installation base M 20 101 Z axis 200mm stroke 2X2 M4X0 7 Depth10 Same on opposite side Z axis upper end mechanical stopper position FUE ze 375 o GEN 419 2 922 2 021 M12X1 75 Depth20 a amp e 562 Z axis stroke 200mm i Working envelope 4 4 914 Use M12 bolt for installation Z axis stroke 400mm i Working envelope ES 180 of Z axis lower end mechanical stopper position Center of recommended user installation base View from direction A Fig 4 5 R6YXS700 4 12 CHAPTER 4 Specifications Interference position a Base flange b Base rear side c Base Working envelope X and Y axis mechanical stopper positions maximum working envelope D sub connector for user wiring User tubing 3 26 blue No 1 to 20 usable pin contact User tubing 2 26 red User tubing 1 26 black 4 13 CHAPTER 4 Specifications User tubing 1 26 black User tubing 2 26 red D sub connector for user wiring User tubing 3 26 blue 1 to 20 usable 58 350 450 147 9232 lt Installation base of larger than 232mm may interfere with harness 301 Z axis 400mm stroke Recommended user installation base 120 101 Z axis
5. R6YXSH300 R6YXSH400 R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS1000 3 1 CHAPTER 1 Robot Manipulator 1 1 Basic specifications 1 2 External view and dimensions Specifications CHAPTER 4 Specifications Robot Manipulator 1 Basic specifications Robot model R6YXSH300 R6YXSH400 X axis Arm length 175mm 225mm Rotation angle 115 115 Y axis Arm length 125mm 175mm Rotation angle 140 140 Z axis Stroke 150mm 150mm R axis Rotation angle 180 180 X axis Y axis 200W 100W 200W 100W Z axis 100W 100W R axis 100W 100W Maximum speed XY resultant 4 4m s 6 0m s Z axis 1 0m s 1 0m s R axis 1020 s 1020 s Repeatability 1 XY axes 0 01mm 0 01mm Z axis 0 01mm 0 01mm R axis 0 005 0 005 Payload R axis tolerable moment of inertia 2 3kg 0 05kgm 0 3kg 5kgfcms User wiring 10 cables 10 cables User tubing Outer diameter 4x3 4x3 Travel limit 1 Soft limit 2 Mechanical limit XYZ axes Robot cable 3 5m option 5m 10m Weight 15kg 1 At constant ambient temperature XY 2 There are limits to acceleration coefficient settings 15kg CHAPTER 4 Specifications AAA AAA Robot model R6YXS
6. Robot numbers Robot model 2101 R6YXSH300 2102 R6YXSH400 2103 R6YXS500 Z200 2104 R6YXS600 Z200 2105 R6YXS700 Z200 2106 R6YXS800 Z200 2107 R6YXS1000 Z200 2110 R6YXS500 z300 2111 R6YXS600 z300 2112 R6YXS700 7400 2113 R6YXS800 Z400 2114 R6YXS1000 72400 Manufacturer serial No Controller serial No 1 5 CHAPTER W Installation Uc CELL 2 1 LISTE OE SE OR ETT 2 2 2 1 85 11 25 Tel p 2 2 2 2 Checkin the product msc nee ea es 2 3 2 5 Meviugtli tObOt se A is 2 4 2 3 1 Moving the R6Y XSH300 R6YXSHAOO esse see see ee ee ee Ge Ge Ge ee ee ee ee ee 2 4 2 3 2 Moving the R6Y XS500 R6Y XS600 R6Y XS700 R6Y XS800 R6Y XS1000 2 5 2 3 2 1 Moving the ceiling hanging robot ssseseeeenee 2 5 2 3 2 2 Moving the inverse type robot essere 2 10 CHAPTER 2 Installation EET EE EE EE EE N re 1 Installation Base 1 Please read the description of standard robot models for the installation base and comply with the caution items provided LN WARNING eee THE CEILING HANGING INVERSE TYPE ROBOT MODELS ARE HUNG FROM THE CEILING SO A DANGEROUS SITUATION CAN OCCUR IF THE ROBOT SUPPORT SECTION BREAKS AND THE ROBOT FALLS MAKE SURE THE ROBOT SUPPORT SECTION HAS SUFFICIENT STRENGTH RIGIDITY AND SAFETY INTI WHEN USING THE R6YXSH300 AND R6YXSH400 MAKE SURE THAT THE ARM DOES NOT INTERFERE
7. 7 41 36 016 Range 16h7 8 018 M8x1 25 Depth15 Z axis tip shape Base interference range Working envelope Use caution to prevent interference with installation wall Inverse type is installed upside down CHAPTER 4 Specifications 47 250 250 120 User tubing 2 26 red User tubing 3 26 blue D sub connector for user wiring No 1 to 20 User tubing 1 26 black 2205 E Installation base of larger than 205mm may interfere with harness 4228 Z300mm stroke Recommended user installation base N 93 Z200mm stroke 160 2X2 M4X0 7 Depth10 Same on opposite side Z axis upper end mechanical stopper position 364 o Y 141122 M12x1 75 Depth 20 2 S 517 2 9 LE Z axis 200mm stroke Center of recommended Z axislower end Y Working envelope user installation base mechanical N stopper position I Z axis 300mm stroke Working envelope S TN View from direction A Fig 4 3 R6YXS500 Interference position a Base flange b Base rear side c Base Working envelope CHAPTER 4 Specifications X and Y axis mechanical stopper positions maximum working envelope D sub connector for user wiring No 1 to 20 4 9 User tubing 2 26 red User tubing 1 26 black M4 ground terminal CHAPTE
8. robot Tightening torque 71N m 720kgf cm Robot carrying jig Bolts 2 pcs supplied with robot Tightening torque 4 5N m 46kgf cm Y axis under cover X axis under cover CHAPTER 2 Installation ENE IERE EN A N mm m hrcr NE AAA AA A 2 When using the hand forklift See Fig 2 5 1 2 3 4 5 6 7 Remove the X and Y axis under covers and install the robot carrying jigs Set the X and Y axis arms straight See Fig 2 5 If the robot is in the shipped state remove the spline from the arm clamping stay and set the X and Y axis arms straight If the arms cannot be folded in the carrying position see Fig 2 5 due to the X axis mechanical stoppers then remove them Wind the robot cable around the robot base while keeping the cable from hanging up on the base mount then fasten the cable end with adhesive tape Insert the prongs of the hand forklift into the robot carrying jigs and raise the hand forklift supporting the robot Remove the bolts securing the pallet supplied or installation base if moving the robot to another installa tion base Using caution to keep the balance of the robot and avoid subjecting it to vibrations and shocks slowly move to the installation base Temporarily secure the robot to the installation base by tightening the bolts Bolt tightening torque is the same as the standard model robots Remove the carrying jigs and reattac
9. 200mm stroke 2X2 M4X0 7 Depth10 Same on opposite side Z axis upper end mechanical stopper position 328 375 uy o bi 41942 562 Z axis stroke 200mm 9 a l i Working envelope 4 914 e Q Use M12 bolt for installation Z axis stroke 300mm Working envelope Z axis lower end mechanical stopper position Center of recommended user installation base View from direction A Fig 4 6 R6YXS800 4 14 Interference position a Base flange b Base rear side c Base CHAPTER 4 Specifications Working envelope X and Y axis mechanical stopper positions maximum working envelope D sub connector for user wiring No 1 to 20 usable pin contact User tubing 3 96 blue User tubing 2 86 red User tubing 1 26 black CHAPTER 4 Specifications User tubing 1 26 black User tubing 2 26 red D sub connector for user wiring User tubing 3 26 blue No 1 to 20 usable 550 147 58 450 9232 PERE S Installation base of larger than 232mm may interfere with harness l 301 Z axis 400mm stroke Recommended user installation base 133 101 Z axis 200mm stroke i0 20 2X2 M4X0 7 Depth10 197 Same on opposite side 1279 Z axis upper end mechanical stopper 1
10. 398 position wl 1375 o my 41942 M12X1 75 Depth20 111 Z axis stroke 200mm 262 o 4 iy Working envelope oO N 4 014 Use M12 bolt for installation 111 Z axis stroke 300mm Working envelope S Z axis lower end mechanical stopper position View from direction A Fig 4 7 R6YXS1000 4 16 Interference position a Base flange b Base rear side c Base CHAPTER 4 Specifications Xand Y axis mechanical stopper positions maximum working envelope D sub connector for user wiring No 1 to 20 usable pin contact User tubing 3 26 blue User tubing 2 26 red User tubing 1 26 black Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No I142E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revision Revision code NS Revised content 01 June 2010 Original production
11. 500 R6YXS600 Arm length 250mm 350mm X axis Rotation angle 120 120 _ Arm length 250mm 250mm Y axis Rotation angle 135 145 Z axis Stroke 200 300mm 200 300mm Rotation angle 180 180 X axis 400W 400W Y axis 200W 200W Z axis 200W 200W R axis 100W 100W XY resultant 4 9m s 5 6m s Maximum speed Z axis 1 7m s 1 7m s R axis 876 s 876 s XY axes 0 02mm 0 02mm Repeatability 1 Z axis 0 01mm 0 01mm R axis 0 005 0 005 Payload 10kg 10kg R axis tolerable moment of inertia 2 0 12kgm 1 2kgfcms User wiring 20 cables 20 cables User tubing Outer diameter 6x3 6x3 Travel limit 1 Soft limit 2 Mechanical limit XYZ axes Robot cable 3 5m option 5m 10m Weight 30kg 32kg 1 At constant ambient temperature XY 2 There are limits to acceleration coefficient settings Robot Model R6YXS700 R6YXS800 CHAPTER 4 Specifications R6YXS1000 Arm length 350mm 450mm 550mm X axis Rotation angle 120 120 120 Axis Arm length 350mm 350mm 450mm Y axis specifi Rotation angle X145 145 145 cations Zaxis Stroke 200 400mm 200 400mm 200 400mm R axis Rotation angle 180 180 180 X axis 800W 800W 800W Y axis 400W 400W 400W Z axis 400W 400W 400W R axis 200W 200W 200W
12. LATOR END IF ANY LOAD IS STILL ATTACHED THE ROBOT MAY LOSE BALANCE WHILE BEING CARRIED AND TOPPLE OVER CAUSING ACCIDENTS A CAUTION WHEN MOVING THE ROBOT BY EQUIPMENT SUCH AS CRANES THAT REQUIRE A LICENSE ONLY PROPERLY QUALIFIED PERSONNEL MAY OPERATE IT THE EQUIPMENT AND TOOLS USED FOR MOVING THE ROBOT SHOULD BE SERVICED DAILY To move a robot for example the R6Y XS500 correctly and safely follow the procedure below Use the same procedure to move other robots 2 3 2 1 Moving the ceiling hanging robot 1 When using eyebolts See Fig 2 4 1 Remove the X axis and Y axis under covers and attach the carrying jigs as shown in Fig 2 4 Remove all loads if attached to the Z axis to set the servo free and release the brake Then fold the Z axis to a position where it can be fastened to the arm clamping stay 2 Insert the eyebolts into the holes on the carrying jig and securely fasten the eyebolts with the nuts Then attach the arm clamping stay to the carrying JIg 2 5 CHAPTER 2 Installation 3 4 3 6 7 8 9 Clamp the Y axis arm by using the stay and bolts that come with the robot If the arms cannot be folded in the carrying position see Fig 2 4 due to the X axis mechanical stoppers then remove them When the robot is shipped the mechanical stoppers are installed to provide the maximum movement range Wind the robot cable around the robot base while keeping the cable from
13. R 4 Specifications 47 250 350 120 User tubing 2 26 red User tubing 3 26 blue D sub connector for user wiring No 1 to 20 usable User tubing 1 26 black 2205 Installation base of larger than 205mm may interfere with harness 228 Z axis 300mm stroke Recommended user installation base 93 Z axis 200mm stroke 60 91 2X2 M4X0 7 Depth10 Same on opposite side ro m Zaxisupperend TT e mechanical stopper position 1319 1364 AH 411 2 M12X1 75 Depth20 527 e O m Z axis stroke 200mm Worki N e Center of recommended a org ENVELOPE i user installation base N Z axis stroke 300mm Working envelope o af 7 LJ Z axis lower end mechanical stopper position 166 Base size Use M10 bolt for installation View from direction A Fig 4 4 R6YXS600 4 10 Interference position a Base flange b Base rear side c Base D sub connector for user wiring No 1 to 20 usable pin contact User tubing 2 26 red User tubing 1 26 black CHAPTER 4 Specifications M4 ground terminal CHAPTER 4 Specifications User tubing 1 26 black User tubing 2 26 red User tubing 3 6 blue D sub connector for user wiring No 1 to 20 usable 58 350 350 147 106 0232 Installation base of larger than
14. R6Y XS series USER S MANUAL Copyright The following shall be described in the Copyright section and the description shall not be changed without permission OMRON 2010 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written per mission of OMRON No patent liability is assumed with respect to the use of the information con tained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Introduction This user s manual was prepared for XS series ceiling hanging inverse type models R6Y XSH300 to R6Y XS1000 of the OMRON industrial robots This user s manual describes the safety measures handling adjustment and maintenance of XS series robots for correct safe and effective use Be sure to read this manual carefully before installing the robot Even after you have read this manual keep it in a safe and convenient place for future reference This user s manual should be used with the robo
15. WITH THE BASE INSTALLATION SECTION WHEN USING THE R6YXS500 TO R6YXS1000 MAKE SURE THAT THE MACHINE HARNESS AND Y AXIS ARM UPPER COVER DO NOT INTERFERE WITH THE BASE INSTALLATION SECTION SEE 1 2 EXTERNAL VIEW AND DIMENSIONS IN CHAPTER 4 2 Tap the required holes into the surface of the installation base See 1 2 External view and dimensions in Chapter 4 for how to tap the holes CHAPTER 2 Installation pM M 2 Installation 2 1 Unpacking NX WARNING THE ROBOT AND CONTROLLER ARE HEAVY TAKE SUFFICIENT CARE NOT TO DROP THEM DURING MOVING OR UNPACKING AS THIS MAY DAMAGE THE EQUIPMENT OR CAUSE BODILY INJURY ANCAUTION 2 OF WHEN MOVING THE ROBOT OR CONTROLLER BY EQUIPMENT SUCH AS A FOLK LIFT THAT REQUIRES A LICENSE ONLY PROPERLY QUALIFIED PERSONNEL MAY OPERATE IT THE EQUIPMENT AND TOOLS USED FOR MOVING THE ROBOT SHOULD BE SERVICED DAILY The XS series robot comes packed with a robot controller and accessories according to the order specifications Using a carrying cart dolly or forklift move the package to near the installation base Take sufficient care not to apply shocks to the equipment when unpacking it Case R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS1000 Ceiling hanging models Robot manipulator SEN R6YXSH300 R6YXSH400 Arm clamping stay Remove after installation ub Arm clamping stay Remove after installation
16. arrying jig Eyebolts 4 pieces supplied with the robot 2 bolts supplied with robot Tightening torque 4 5Nem 46kgfecm la N A Bl TS 4 bolts supplied with robot EES Tightening torque A 71Nem 720kgfecm gt i HL Use bolts and nuts or screws II i supplied with robot m Pallet supplied with the robot Bolts M12x20 supplied with robot Tightening torque 71Nem 720kgfecm Arm clamping stay supplied with robot Arm clamped position Fig 2 6 2 11 CHAPTER 2 Installation EER AE EE IE rs EER N EE RR UK ME EE IE 2 When using the hand forklift See Fig 2 7 1 2 3 4 3 6 7 Remove the X and Y axis upper covers and install the robot carrying jigs Set the X and Y axis arms straight See Fig 2 5 If the robot is in the shipped state remove the spline from the arm clamping stay and set the X and Y axis arms straight If the arms cannot be folded in the carrying position see Fig 2 5 due to the X axis mechanical stoppers then remove them When the robot is shipped the mechanical stoppers are installed to provide the maximum movement range Wind the robot cable around the robot base while keeping the cable from hanging up on the base mount then fasten the cable end with adhesive tape Insert the prongs of the hand forklift into the robot carrying jigs and raise the hand forklift supporting the robot Remov
17. e the bolts securing the pallet supplied or installation base if moving the robot to another installa tion base Using caution to keep the balance of the robot and avoid subjecting it to vibrations and shocks slowly move to the installation base Temporarily secure the robot to the installation base by tightening the bolts Bolt tightening torque is the same as the standard model robots Remove the carrying jigs and reattach the X and Y axis upper covers Be sure to keep the carrying jigs bolts arm clamping stay and pallet for future use in case the robot needs to be moved or transported 2 12 CHAPTER 2 Installation X axis upper cover pp Y axis upper cover Screw par Y Y Eyebolts 4 pieces supplied with the robot T T 2 bolts supplied with robot Insert the prongs of the hand forklift there Insert the prongs of the hand forklift there p eE gt q 4 bolts supplied with robot e Tightening torque 71Nem 720kgfecm n r EER Use bolts and nuts or screws supplied with robot Set the arms out straight SI 2 CO fl Arm clamped position Fig 2 7 2 13 CHAPTER K Periodic Inspection 1 Replacing the Harmonic Grease Inverse type model R axis 3 1 1 1 Replacement period sooo e re I RERO I eet dd do CHAPTER 3 Periodic Inspection Replacing the Harmonic Grease Inverse ty
18. g 2 4 due to the X axis mechanical stoppers then remove them When the robot is shipped the mechanical stoppers are installed to provide the maximum movement range Wind the robot cable around the robot base while keeping the cable from hanging up on the base mount then fasten the cable end with adhesive tape Prepare 4 looped ropes with the same length to allow a good lifting balance then pass each rope through each eyebolt and catch it on the hoist hook Slightly lift the hoist so that each rope has light tension to hold the robot In this state remove the bolts securing the robot base to the pallet supplied or installation base if moving the robot to another installation base Using 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 arm surface should be kept at 45 degrees or more Temporarily secure the robot to the installation base by tightening the bolts Bolt tightening torque is the same as the standard model robots Remove the ropes and carrying jigs then reattach the X axis and Y axis upper covers Be sure to keep the carrying jigs eyebolts arm clamping stay bolts and pallet for future use in case the robot needs to be moved or transported 2 10 CHAPTER 2 Installation Hoist hook NI Rope a X axis upper cover Y axis upper cover mq Y Robot c
19. h the X and Y axis under covers Be sure to keep the carrying jigs bolts arm clamping stay and pallet for future use in case the robot needs to be moved or transported 2 8 CHAPTER 2 Installation Set the arms out straight Arm clamping stay supplied with robot Arm clamped position Bolts M12x20 supplied with robot Robot cable 4 bolts supplied with robot Tightening torque 71N m 720Kgf cm Use bolts and nuts or screws 4 pcs supplied with robot Robot carrying jig Insert the prongs of the hand forklift there A lc c Bolts 2 pcs supplied with robot Pallet supplied with the robot Y axis under cover Screw Fig 2 5 CHAPTER 2 Installation EE al EE Moving the inverse type robot 1 When using eyebolts See Fig 2 6 2 3 2 2 1 2 3 4 5 6 7 8 9 Remove the X axis and Y axis upper covers and attach the robot carrying jigs Remove all loads if attached to the Z axis to set the servo free and release the brake Then fold the Z axis to a position where it can be fas tened to the arm clamping stay Insert the eyebolts into the holes on the carrying jigs and securely fas ten the eyebolts with the nuts Then attach the arm clamping stay to the carrying jigs Clamp the Y axis arm by using the stay and bolts that come with the robot If the arms cannot be folded in the carrying position see Fi
20. hanging up on the base mount then fasten the cable end with adhesive tape Prepare 4 looped ropes with the same length to allow a good lifting balance then pass each rope through each eyebolt and catch it on the hoist hook Slightly lift the hoist so that each rope has light tension to hold the robot In this state remove the bolts securing the robot base to the pallet supplied or installation base if robot is to be moved to another installation base Using 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 arm surface should be kept at 45 degrees or more Temporarily secure the robot to the installation base by tightening the bolts Use the same tightening torque as specified to secure the standard model robots Remove the ropes and carrying jigs then reattach the X axis and Y axis under covers Be sure to keep the carrying jigs eyebolts arm clamping stay bolts and pallet for future use in case the robot needs to be moved or transported 2 6 CHAPTER 2 Installation Arm clamping stay supplied with robot Eyebolts 4 pieces supplied with the robot Arm clamped position Bolts M12x20 supplied with robot Tightening torque 71N m 720kgf cm Robot cable al 4 bolts supplied with robot p Use bolts and nuts or screws 4 pcs supplied with
21. he R6YXSH300 R6YXSH400 1 Fold the X and Y axis arms as shown in Fig 2 3 and wind the robot cable around the machine harness then fasten the robot cable with adhesive tape so as not to cover the bolt installation holes When moving an inverted ceiling hanging robot wind the robot cable around the spline shaft as shown and fasten the cable with adhesive tape 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 to secure the robot firmly see 2 4 Installing the ro bot in the X standard model user s manual Robot cable Robot cable Support part Support part Support part Bolt installation hole Support part Fig 2 3 2 4 CHAPTER 2 Installation 2 3 2 Moving the R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS1000 Z WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT CHECK THAT THERE ARE NO CRACKS AND CORROSION ON THE EYEBOLT INSTALLATION IF FOUND DO NOT USE EYEBOLTS TO MOVE THE ROBOT INSERT THE EYEBOLTS INTO THE HOLES OF THE CARRYING JIG SO THAT THEIR BEARING SURFACES MAKE TIGHT CONTACT WITH EACH OTHER AND SECURELY FASTEN THE EYEBOLTS WITH THE NUTS USE A HOIST AND ROPE WITH CARRYING CAPACITY STRONG ENOUGH TO SUPPORT THE ROBOT WEIGHT MAKE SURE THE ROPE STAYS SECURELY ON THE HOIST HOOK REMOVE ALL LOADS ATTACHED TO THE ROBOT MANIPU
22. inverse type robots In the case of the ceiling hanging inverse type models the robot base up down installation directions in the figure are reversed 1 2 User tubing 2 46 red User tubing 3 6 blue i i IS WF gt d D sub connector for user wiring No 1 to 20 CHAPTER 1 Functions Y axis mechanical stopper User tubing 1 6 black Warning label 2 Same on opposite side Warning label 1 Same on opposite side Robot cable Ball screw User tubing 3 46 blue D sub connector for user wiring User tubing 2 06 red No 1 to 20 User tubing 1 66 black M4 ground terminal Serial label Warning label 3 X axis motor X axis speed il reduction gear Y axis arm Z axis spline End effector attachment Z axis R axis pulley belt Carrying jig installation position X axis arm Machine harness X axis movable mechanical stopper Fig 1 4 R6YXS500 to R6YXS1000 ceiling hanging inverse type robots In the case of the ceiling hanging inverse type models the robot base up down installation directions in the figure are reversed 1 3 CHAPTER 1 Functions IEE 2 Robot Parameters A portion of the robot parameters for ceiling hanging inverse type models are changed from the standard specifications when shipped The following is a description of these changed pa
23. pe model R axis Only the R axis harmonic drive of the inverse type model uses harmonic grease HC 1A This grease must be replaced periodically Use the guideline explained below to determine the appropriate replacement period and replace the grease Replacement period The harmonic drive grease replacement period is determined by the total number of turns of the wave generator used in the harmonic drive It is recom mended to replace the harmonic drive grease when the total number of tums has reached 1 5x10 at ambient operating temperatures of 0 C to 40 C This means that the replacement period will differ depending on the follo wing operating conditions If the robot operation duty ratio is high or the robot is operated in environments at higher temperatures the harmonic drive should be replaced earlier Replacement period 1 5x 10 nx60xhxDxNx years where n Number of axis movements per minute 0 Average turn per axis movement N Speed reduction ratio h Operation time per day D Operation days per year For example when the robot is used under the following conditions the replace ment period for the R axis harmonic drive grease of the R6Y XS500 can be calculated as follows n 10 0 0 25 N 80 h 24 hours per day D 240 days per year Replacement period 1 5x10 nx60xhxDxNx0 1 5x10 10x60x24x240x80x0 25 2 17 years Table 3 1 Harmonic drive speed reduction ratio Robot model R axis
24. rameters and precautions you should take when using these robots To purchasers of this robot At this time our sincere thanks for your purchase of this robot This robot is made to custom specifications so some parameters are different from standard robots Please be aware of the following points before attempting to use the robot Cautions regarding use Always make a backup of parameters Initializing the parameters voids all parameters that were entered When initialized load the backup parameters Parameter changes A description of parameter changes is given below Boxes left blank indicate standard specifications 1 Ceiling hanging model Axis settings Parameter Changes Axis parameters Y axis Z axis 16 Motor direction 2 Inverse type models Axis settings Parameter Changes Axis parameters Y axis Z axis 16 Motor direction nnn Axis settings R6YXSH300 R6YXSH400 Parameter Changes Axis parameters Y axis Z axis 37 Max motor rotation Axis settings R6YXS500 R6YXS600 R6YXS700 R6YXS800 R6YXS1000 Parameter Changes Axis parameters Y axis Z axis 37 Max motor rotation 1 4 Parameter CHAPTER 1 Functions EEE 3 R6YXSH300 Axis settings Changes Axis parameters Y axis Z axis 11 Arm length mm 125 00 Robot numbers used to initialize the parameters are as follows
25. s or p o etie Po e eret edi U ERE EEA HRS EE N 4 1 1 2 External view and dimensions ccccccceccceesssceeesccecesseeeeseecessseecsseceeseseesnees 4 4 CHAPTER gi Functions 1 Robot Manipulator none 1 1 2 Robot Parameters a adi 1 4 CHAPTER 1 Functions 1 Robot Manipulator XS series robots are grouped into the ceiling hanging models of Fig 1 1 and the inverse type models of Fig 1 2 Jog key movement is in the directions shown in Figs 1 1 and 1 2 Robot part names and functions are shown in Fig 1 3 and Fig 1 4 Fig 1 1 Ceiling hanging models Fig 1 2 Inverse type models 1 1 CHAPTER 1 Functions D sub connector for user wiring No 1 to 10 User tubing 1 4 black User tubing 2 64 red User tubing 3 64 blue M4 ground terminal Serial label D sub connector for user wiring No 1 to 10 Machine harness User tubing 1 4 black User tubing 2 64 red User tubing 3 44 blue Ball screw Warning label 1 Warning label 2 R axis motor Z axis motor R axis speed reduction gear Z axis spline End effector attachment Robot cable X axis motor Y axis motor X axis speed Y axis arm i reduction gear EA N I D EY Y axis speed i a reduction gear Y axis mechanical stopper X axis mechanical stopper Z axis R axis pulley belt X axis arm Fig 1 3 R6YXSH300 R6YXSH400 ceiling hanging
26. s manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions CHAPTER 1 1 2 CHAPTER 2 CHAPTER 3 CHAPTER 4 1 CONTENTS Functions Robot MAN ONAL O 1 1 Robot Parameters proto ERG Es se ee 1 4 Installation TusiallaloB Base nennen ren 2 1 Installation aces OE ee N N ON 2 2 2 l di iS EE OE EE o UR UR EE EN 2 2 2 2 Checking the products e eese be 2 3 2 3 Moving di ER N EE EE Ei 2 4 2 3 1 Moving the R6Y XSH300 ROY XSHAOO ee ee ee ee rense ee Re Re GR GR AR Ag 2 4 2 3 2 Moving the R6Y XS500 R6Y XS600 R6Y XS700 R6Y XS800 R6Y XS1000 2 5 2 3 2 1 Moving the ceiling hanging robot sss 2 5 2 3 2 2 Moving the inverse type robot sess 2 10 Periodic Inspection Replacing the Harmonic Grease Inverted ceiling hanging inverse type model R axis 3 1 1 1 Replacement period aote citet ere ended ie cere 3 1 Specifications Robot Manipul tor sets pica ic seo taa ei ee id Re ke Ne ES 4 Tal Basic specifiCattoti
27. t and considered an integral part of it When the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to explain to the new user the need to read through this manual For the operating or maintenance procedures not described in this manual please refer to the separate X Series User s Manual Also refer to the X Series User s Manual for precautions and warranty If there are any obscure points in handling the robot be sure to contact OMRON sales office or dealer For details on specific operation and programming of the robot refer to the separate OMRON Robot Controller User s Manual EEE Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm 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 DATA Performance data given in thi
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