Omron R6Y3 Series, Installation Manual

Page 1: ...ZX T Series Cat No I194E EN 02 Delta Robot INSTALLATION MANUAL Washdown Delta Robot R6Y3 Series...

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Page 3: ...Safety measures S 8 4 4 2 Installing a safety enclosure S 9 4 5 Operation S 10 4 5 1 Trial operation S 10 4 5 2 Automatic operation S 10 4 5 3 Precautions during operation S 10 4 6 Inspection and mai...

Page 4: ...tion 2 12 4 1 Robot cable connection 2 12 4 2 Wiring the brake release cable connector 2 12 4 3 axis connection wiring specifications R6Y31110L03067NJ5 R6Y31110H03067NJ5 2 13 5 User tubing 2 15 6 Atta...

Page 5: ...specifications R6Y31110L03067NJ5 R6Y31110H03067NJ5 2 47 10 4 1 axis harness wiring 2 47 10 4 2 axis shaft wiring 2 48 10 4 3 axis harness wiring 2 49 10 4 4 axis shaft wiring 2 49 10 4 5 axis harness...

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Page 7: ...sures S 8 4 4 1 Safety measures S 8 4 4 2 Installing a safety enclosure S 9 4 5 Operation S 10 4 5 1 Trial operation S 10 4 5 2 Automatic operation S 10 4 5 3 Precautions during operation S 10 4 6 Ins...

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Page 9: ...e the safety of the user s final system that includes robots the user must take appropriate safety considerations To use robots safely and correctly be sure to strictly observe the safety rules and in...

Page 10: ...symbol and signal word and then read this manual DANGER THIS INDICATES AN IMMEDIATELY HAzARDoUS SITUATIoN WHICH IF NoT AvoIDED WILL RESULT IN DEATH oR SERIoUS INJURY WARNING THIS INDICATES A poTENTIA...

Page 11: ...HE SAFETY ENCLoSURE Instructions on this label Always install a safety enclosure to keep all persons away from the robot movement range and prevent injury from contacting the moving part of the robot...

Page 12: ...ons on the warning labels and understand the contents 3 1 2 Supplied warning label CAUTION Attach the warning label that has been included in the robot at shipment to a legible location close to the r...

Page 13: ...ustrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and standards for indu...

Page 14: ...UCTIoN MAY CAUSE SERIoUS ACCIDENTS INvoLvINg INJURY oR DEATH oR LEAD To FIRE Moving 1 Use caution to prevent pinching or crushing of hands or fingers WARNING KEEp YoUR HAND AWAY FRoM THE RoBoT INSTALL...

Page 15: ...al PC board When disconnecting the cable from the robot do not hold the cable and pull it out by hand Loosen the screws on the connector if fastened with the screws and then disconnect the cable Tryin...

Page 16: ...and safety checks in order to restart the robot 6 In cases other than above the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation...

Page 17: ...al system The system manufacturer should provide a proper manual for safe correct operation and servicing of the system WARNING To CHECK THE RoBoT CoNTRoLLER opERATINg STATUS REFER To THE RELATED MANU...

Page 18: ...ype of danger Damage to machine harness or robot cable Electrical shock robot malfunction Damage to robot exterior Damaged parts fly off during robot operation Abnormal robot operation position deviat...

Page 19: ...recautions during repair and parts replacement WARNING IF IT IS ABSoLUTELY REqUIRED To REpAIR oR REpLACE ANY pART oF THE RoBoT pLEASE BE SURE To CoNTACT YoUR DISTRIBUToR AND FoLLoW THE INSTRUCTIoNS TH...

Page 20: ...gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE 4 7 Disposal When disposing of robots and related items handle them carefully as industrial wastes Use the correct disposal method in comp...

Page 21: ...e brake is activated So release the brake and then push the axis by hand to move it WARNING THE AxIS AxIS oR AxIS WILL SLIDE DoWNWARD WHEN THE BRAKE IS RELEASED CAUSINg A HAzARDoUS SITUATIoN BEFoRE RE...

Page 22: ...MINg TASKS DIRECT TEACHINg ETC WITH THE BRAKE RELEASED BE CAREFUL NoT To LET YoUR BoDY gET CAUgHT BETWEEN THE MovABLE BASE AND THE INSTALLATIoN BASE 6 2 Residual risk To ensure safe and correct use of...

Page 23: ...anual ISO 10218 1 Note Maximum movement range maximum space Area limited by mechanical stoppers Movement range restricted space Area limited by movable mechanical stoppers Working envelope operational...

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Page 25: ...onth year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 products whose trouble cannot be reproduced or identified...

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Page 27: ...Contents Before using the robot Be sure to read the following notes i Introduction ii Introduction...

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Page 29: ...off or the robot is stopped before completing the motion or the moving speed is changed even when approaching the teaching point from the same direction 3 Temperature factors If the ambient temperatur...

Page 30: ...obot is ideal for specialized high speed work such as part transport or box packing This user s manual describes safety measures handling adjustment inspection and maintenance of the R6Y3 robot to ens...

Page 31: ...Chapter 1 Functions Contents 1 Robot manipulator 1 1 1 1 Manipulator movement 1 1 1 2 Part names 1 2...

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Page 33: ...arm shaft and a axis moveable base With these 4 axes the R6Y3 robot can move as shown in the Fig below By attaching different types of end effector gripper to the end a wide range of tasks can be per...

Page 34: ...ng cover Arm Shaft axis motor cover Moveable base Tool flange Plastic bearing Plastic bearing Plate Moveable base Link ball Cap Boot axis axis axis Brake release switch Warning label 3 Warning label 2...

Page 35: ...ector 2 16 6 1 axis tolerable moment of inertia and acceleration 2 16 6 1 1 axis moment of inertia of load and acceleration coefficient 2 16 6 2 Equation for moment of inertia calculation 2 17 6 3 Exa...

Page 36: ...ector 2 43 10 3 Wiring the detection cable connector 2 46 10 4 Detection wiring and axis specifications R6Y31110L03067NJ5 R6Y31110H03067NJ5 2 47 10 4 1 axis harness wiring 2 47 10 4 2 axis shaft wirin...

Page 37: ...an dry air not containing deteriorated compressor oil filtration 40 m or less Working space Allow sufficient space margin to perform jobs teaching inspection repair etc WARNING AvoID INSTALLINg THE Ro...

Page 38: ...iciently rigid base will result in vibrations and poor positioning The arm movement area for each axis includes space above the robot base and therefore the robot must not be installed on the ceiling...

Page 39: ...rallelism 0 5 Movement range Tool movement area 80 350 Cable interference range 1800 tool movement range 1200 arm rotation range 150 580 1100 300 R900 Arm rotation range Tool movement area Arm rotatio...

Page 40: ...0 100 100 0 5 155 155 1450 1450 320 403 403 6 0 6 0 150 155 30 3 0 100 100 100 100 100 100 100 405 300 300 100 B 197 68 129 153 153 188 188 35 35 Detailed drawing B 6 15 through hole CAUTION Iron SS40...

Page 41: ...arrying cart dolly or forklift move the package near the installation base Take sufficient care not to apply shocks to the equipment when unpacking it Packed state 2 2 Checking the product After unpac...

Page 42: ...HE RoBoT BoDY WHEN UNpACKINg THE RoBoT pLEASE pAY ATTENTIoN To THE FoLLoWINg ADDITIoNAL poINT THE ARMS ARE ADJUSTED To THEIR RESpECTIvE oRIgIN poSITIoNS pRIoR To SHIppINg AND THEREFoRE SHoULD NoT BE T...

Page 43: ...user and temporarily secure three points near each axis on the robot base with the bolts Then temporarily tighten the remaining three bolts 6 Fully tighten all six bolts NOTE Refer to 2 4 Installing t...

Page 44: ...y lift the hoist so that the tension is lightly applied to each rope to hold the robot and then remove the base mounting bolts if moving the robot to another base 8 Move the robot Using caution to kee...

Page 45: ...80 350 Cable interference range 1100 Movement area 1200 arm rotation range 650 120 200 1100 150 300 Arm rotation range Tool movement area 580 1100 74 Either of the following methods may be used to sec...

Page 46: ...torque 128Nm 1310 kgfcm 205Nm 2090 kgfcm Depth of tapped holes in installation base Iron installation base Bolt diameter 1 5 or more Aluminum installation base Bolt diameter 3 0 or more Recommended b...

Page 47: ...ttachment hole There are two M4 earth terminals located near the attachment hole M12 for the calibration tool used to adjust the robot base origin position Use one terminal for the external protective...

Page 48: ...hen connecting the robot and brake release cable connector Furthermore users are required to prepare the wire leading from the brake release cable connector Refer to the controller user s manual for d...

Page 49: ...used when incorrectly wired axis Driver side 1 2 4 3 Harness wiring Encoder cable wiring left side is driver side 1 JN1HS10PL2 JAE 2 LF10WBR 12S HIROSE No Signal Color P Connection P Remarks E5v Blue...

Page 50: ...2P HIROSE 2 HR34B 12WLPD 10S HIROSE No Signal Color P Connection P Remarks E5v Blue 4 4 E0v White 1 1 BAT Yellow 6 6 BAT Brown 5 5 S green 3 3 S Black 7 7 Fg Shield 9 9 Motor cable wiring right side i...

Page 51: ...tube attachment port for use by the user on the moveable base side of the robot The following air tubes may be used User tubing 6 1 Air tube specifications are shown below Always observe these specif...

Page 52: ...tia of the load are shown in 6 2 Equation for moment of inertia calculation and 6 3 Example of moment of inertia calculation However it is not easy to precisely figure out these values If a calculated...

Page 53: ...rticle The equation for the moment of inertia for a material particle that has a rotation center such as shown in the Fig below is as follows This is used as an approximate equation when x is larger t...

Page 54: ...low is given as follows Moment of inertia for prism a c b 1 2a J rabc a2 b2 12g W a2 b2 12g 4 I rabc a2 b2 12 m a2 b2 12 kgfcmsec2 kgm2 r Density kg m3 kg cm3 g Gravitational acceleration cm sec2 m Ma...

Page 55: ...D2 h 16g D2 4 h2 3 rpD2 h x2 4g Wx2 g I rpD2 h 16 D2 4 h2 3 rpD2 h x2 4 kgfcmsec2 m 4 D2 4 h2 3 mx2 kgm2 In the same manner the moment of inertia of a prism as shown in the Fig below is given by Momen...

Page 56: ...el and its density is 0 0078kg cm3 Example of moment of inertia calculation The chuck and workpiece are at a position offset by 10cm from the axis by the stay 10cm 2cm 2cm axis 1cm 1cm 2cm 2cm 4cm 6cm...

Page 57: ...msec2 3 Moment of inertia of workpiece Moment of inertia of workpiece 10cm 4cm axis 2cm Ww rpD2 h 0 0078p 22 4 4 4 0 098 kgf The moment of inertia of the workpiece Jw is then calculated from Eq 5 When...

Page 58: ...END EFFECToR ATTACHMENT IF THESE ARE IgNoRED THE END EFFECToR MAY CoME LooSE AND FLY oFF DURINg RoBoT opERATIoN RESULTINg IN AN ACCIDENT oR INJURY NOTE Refer to the controller user s manual for detai...

Page 59: ...MovEMENT RANgE INCLUDINg THE ARM S MAxIMUM MovEMENT RANgE Note that the robot s TCp tool center point movement range is larger than the actual working envelope Be sure to specify the robot working en...

Page 60: ...THE CovERS WHILE REFERRINg To THE FIg BELoW IF THE CovERS ARE NoT SECURED FIRMLY NoISE MAY oCCUR THE CovERS MAY DRop AND FLY oUT HANDS MAY BECoME ENTANgLED IN THE DRIvE UNIT DURINg TEACHINg oR CoME I...

Page 61: ...CARE To AvoID ELECTRIC SHoCK oR BURNS oWINg To THE HEAT gENERATED BY THE MoToRS 1 Remove the duct boot and cap Duct boot and cap removal Step 1 Cap Boot Cap removal Boot removal Duct NOTE The boot and...

Page 62: ...ut while shaking it up and down to remove the cover a little About 10mm of the rubber will come out within 5mm when attached Temporarily removed cover Step 4 Cover top temporarily removed Cover bottom...

Page 63: ...er Make a gap between the cover and base by pulling the cover out further Temporarily removed cover Step 5 Cover top temporarily removed Cover bottom temporarily removed NOTE The cover will catch at t...

Page 64: ...ill come free making it easier to pull out the cover without it catching The motor connector will catch on the hole on the side of the cover and so the cover should be shifted to avoid the connector T...

Page 65: ...catch on the step on the bracket below the reduction gear There are two steps and the clips catch on the second step Clip construction Reduction gear Bracket Clip construction on inside Clips Inside...

Page 66: ...otor wire Step 1 Motor wire Boot 2 Insert the encoder wire and brake release wire prepared by user from smaller hole on the boot Insert the encoder wire and brake release wire prepared by user Step 2...

Page 67: ...5 Route the encoder wire Insert the encoder wire only through the hole for the motor connector and pull it out from the adjacent cap hole Encoder wire routing Step 5 Encoder wire Encoder wire Pull out...

Page 68: ...e internal switch does not interfere with the motor connector Pull the brake release wire and encoder wire out from the gap next to the motor connector Temporary motor cover insertion Step 6 Motor cov...

Page 69: ...on the top fits in Insert the rubber Step 8 CAUTION Insert the rubber a little at a time and avoid trying to force it in If forced in the rubber will end up deformed making it difficult to attach the...

Page 70: ...0 M5 hex bolt 11 Attach the robot cable connector WARNING CoNNECT THE AxIS AxIS AND AxIS RoBoT CABLES So THAT THEY MATCH THE RESpECTIvE AxES AT THE CoNTRoLLER DRIvER THE RoBoT WILL NoT opERATE CoRRECT...

Page 71: ...llation 2 35 14 Attach the bracket to the robot cable Bracket attachment Step 14 Bracket Boot 15 Insert the bracket in the boot 16 Insert the boot in the duct Bracket insertion Step 15 Boot insertion...

Page 72: ...ts Attach the shafts while ensuring to hook the shaft plastic bearings onto the arm and moveable base link balls The link balls can be stretched by hand at the end of the shaft as shown in the Fig The...

Page 73: ...pring covers are fixed If the shaft direction is correct at Step 3 the cover attached at the top will be wide as shown in the Fig The spring covers come as a top and bottom set when shipped Attach the...

Page 74: ...nk balls can be stretched by hand at the end of the shaft as shown in the Fig The depression on the shafts for spring cover attachment should face upward The moveable base attachment direction is as s...

Page 75: ...ng covers are fixed If the shaft direction is correct at Step 3 the cover attached at the top will be wide as shown in the Fig below The spring covers come as a top and bottom set when shipped Attach...

Page 76: ...ng the connector the cable may come off and have faulty wiring 6 Attach the cable at the moveable base side to the motor cover Ensure that the moveable base and axis shaft attachment directions are co...

Page 77: ...ep 3 Spring cover attachment location Top cover Bottom cover Clip Arm side Base side CAUTION Use both hands when removing the spring covers Use one hand for removal and the other to stop the bottom co...

Page 78: ...t a circuit that detects the arm drop as the short circuited contacts are opened and then make appropriate settings so that the emergency stop or stop operation is activated when the arm drop is detec...

Page 79: ...y enclosure 3 Attach the shafts Attach the shafts while ensuring to hook the shaft plastic bearings onto the arm and moveable base link balls The link balls can be stretched by hand at the end of the...

Page 80: ...ng covers are fixed If the shaft direction is correct at Step 3 the cover attached at the top will be wide as shown in the Fig below The spring covers come as a top and bottom set when shipped Attach...

Page 81: ...CAUTION When performing the operation without locking the connector the cable may come off and have faulty wiring 6 Connect the connector Insert the connector all the way inside securely and attach t...

Page 82: ...s opened WARNING IF ANY DETECTIoN CABLE CoNNECToR pIN IS BENT oR BRoKEN oR IF THE CABLE IS DAMAgED THIS MAY CAUSE DAMAgE To THE RoBoT RESULTINg IN A SERIoUS ACCIDENT BEFoRE CoNNECTINg THE CABLE CoNNEC...

Page 83: ...function if used when incorrectly wired 10 4 1 axis harness wiring axis Driver side 1 2 4 3 axis harness wiring Encoder cable wiring left side is driver side 1 JN1HS10PL2 JAE 2 LF10WBR 12S HIROSE No S...

Page 84: ...motor side 1 LF10WBP 12P HIROSE 2 HR34B 12WLPD 10S HIROSE No Signal Color P Connection P Remarks E5v Blue 4 4 E0v White 1 1 BAT Yellow 6 6 BAT Brown 5 5 S green 3 3 S Black 7 7 Fg Shield 9 9 Detectio...

Page 85: ...P HIROSE 2 LF10WBR 12S HIROSE No Signal Color P Connection P Remarks S1 Blue 1 10 S2 White 2 11 10 4 4 axis shaft wiring axis axis side axis side Motor side Arm side 1 2 axis shaft wiring Detection ca...

Page 86: ...is driver side 1 NMS3101B 20 4 P JAE 2 LF10WBR 4S HIROSE No Signal Color P Connection P Remarks U Red A 1 v White B 2 W Black C 3 Fg Yellow green D 4 Round terminal Detection cable wiring left side i...

Page 87: ...wiring right side is motor side 1 LF10WBP 4P HIROSE 2 HR34B 4WLPD 4S HIROSE No Signal Color P Connection P Remarks U Red A 1 v White B 2 W Black C 3 Fg Yellow green D 4 Detection cable wiring right si...

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Page 89: ...ics 3 1 2 Adjusting the origin 3 3 2 1 Adjusting the and axis origin position 3 4 2 2 Adjusting the axis origin position 4 axes specification only 3 7 3 Setting the soft limits 3 9 3 1 Setting the and...

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Page 91: ...owing points 1 Use stable posts which will not fall over easily 2 The rope or chain should be easily visible by everyone around the robot 3 Place a conspicuous sign prohibiting the operator or other p...

Page 92: ...Rcy Rco Workspace parameters Zu 599 mm Distance from the Z axis origin position Rcy 550 mm Radius of the cylinder Hcy 300 mm Height of the cylinder Rco 290 mm Radius of the frustum cone of underside H...

Page 93: ...robot cable connector 3 If the motor is replaced same reason as above 4 If any of the axis arms are removed CAUTION If any of the above situations occur after purchasing the robot it is necessary to...

Page 94: ...o its respective origin positions using the calibration jig axis origin positions 1 2 0 1 2 0 Detailed drawing of installation surface Do not attach tubing to axis cable 155 Eyebolts 3 locations 1067...

Page 95: ...et head bolts provided The arm is moved at Step 5 and if it hits the calibration tool at that time temporarily secure the tool move the arm to a position above the tool at Step 5 apply the brake secur...

Page 96: ...tep 5 Link ball Calibration tool Calibration tool 6 Apply the motor brake for axis 7 Remove the calibration tool from the base By loosening the M12 hex socket head bolt on the end of the calibration t...

Page 97: ...moveable base and spring covers in Chapter 2 for details on attaching the moveable base With the 4 axes robot it is necessary to adjust the axis origin origin position in addition to attaching the mov...

Page 98: ...3 Robot settings 3 8 5 Secure at the two tool flange M5 holes Securing the calibration tool Knock pin Dowel hole axis calibration tool Secure at these two points axis calibration tool...

Page 99: ...xis soft limits Set the soft limits within the movement range or within the range where the robot does not interfere with peripheral equipment but within movement range Furthermore reduce the soft lim...

Page 100: ...o mechanical stoppers Set the axis plus and minus soft limits to narrow the movement range when the actual axis movement range of the robot is small or the robot interferes with the peripheral equipme...

Page 101: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...

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Page 103: ...fter inspection Monthly and 6 month inspection precaution pay attention to the following if applying grease to the axis assembly WARNING pRECAUTIoNS WHEN HANDLINg gREASE INFLAMMATIoN MAY oCCUR IF THIS...

Page 104: ...less Plastic bearing spring mechanism plate sliding surface Check for deformation breakage Check for cracks Shaft Check for deformation Spring cover Check for damage Check for guide clip breakage Insi...

Page 105: ...Chapter 5 Specifications Contents 1 Manipulator 5 1 1 1 Basic specification 5 1 1 2 External view and dimensions 5 2 1 3 Robot inner wiring diagram 5 4...

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Page 107: ...uter diameter 6x1 moveable tool Travel limit Soft limit Protection class IP67 Weight 75kg 1 This is the value at a constant ambient temperature 2 With 0 1kg payload When reciprocating 305mm in horizon...

Page 108: ...nsions R6Y30110S03067NJ5 120 673 65 799 46 25 45 17 40 1067 Eyebolts 3 locations A 1 2 0 1 2 0 155 Detailed drawing of installation surface 4 5 3 0 4 5 P C D 31 5 15 75 0 02 5H7 0 012 0 depth 10 4 M5...

Page 109: ...0 1 2 0 1 2 0 Detailed drawing of installation surface Do not attach tubing to axis cable 155 A Eyebolts 3 locations 1067 120 46 25 45 22 673 799 65 42 A 4 M5 0 8 depth 8 Rc1 8 49 3 0 4 5 4 5 Joint 6...

Page 110: ...diagram axis encoder axis brake release switch axis motor brake axis encoder axis motor brake axis brake release switch axis encoder axis motor brake axis brake release switch User tubing air tube att...

Page 111: ...modified 01B April 2014 Illustrations were changed inspection precautions were added text errors were corrected 01C May 2014 Workspace parameters were corrected 02 November 2014 In Chapter 2 reference...

Page 112: ...nt or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SP...

Page 113: ...stems Machine Automation Controllers MAC Programmable Controllers PLC Operator interfaces HMI Distributed I O Software Drives Motion Controls Servo AC Drives Motion Controllers Encoders Temperature Pr...