Omron R6YXP1000, User Manual

Page 1: ...ZX T Series Cat No I143E EN 01 R6Y XP series USER S MANUAL Cat No I143E EN 01 SCARA Robot R6Y XP series USERS MANUAL SCARA Robots XP Series...

Page 2: ......

Page 3: ...al was prepared for XP series dust drip proof models R6YXP250 to R6YXP1000 of the OMRON industrial robots This user s manual describes the safety measures handling adjustment and maintenance of XP ser...

Page 4: ...firm 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...

Page 5: ...11 7 Work Within the Safeguard Enclosure 1 12 8 Automatic Operation 1 13 9 Adjustment and Inspection 1 13 10 Repair and Modification 1 13 11 Warranty 1 14 12 CE Marking 1 16 CHAPTER 2 Functions 1 Robo...

Page 6: ...to R6YXP400 4 2 1 2 Removing the Y axis arm upper cover R6YXP500 R6YXP600 4 6 1 3 Removing the Y axis arm upper cover R6YXP700 to R6YXP1000 4 10 2 Origin Position Stickers 4 14 3 Adjusting the Z axis...

Page 7: ...ining for Industrial Robot Operation 1 8 4 Robot Safety Functions 1 9 5 Safety Measures for the System 1 10 6 Trial Operation 1 11 7 Work Within the Safeguard Enclosure 1 12 8 Automatic Operation 1 13...

Page 8: ......

Page 9: ...n 3 Operate or adjust the robot while referring to a printout of the necessary pages from the CD ROM version of the instruction manual It is not possible to detail all safety items within the limited...

Page 10: ...de except from doors or panels equipped with safety interlocks The warning labels shown in Fig 1 1 are supplied with the robot and should be affixed to a conspicuous spot on doors or panels equipped w...

Page 11: ...ns in this manual Improper Installation or operation can result in serious injury or death Read user s owner s manual and all warning labels before operation WARNING Fig 1 3 Warning label 3 4 Do not u...

Page 12: ...PRESSURE ETC IS SHUT OFF OR POWER FLUCTUATIONS OCCUR IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR MAY FLY OFF OR DROP THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING IN...

Page 13: ...DS IF PNEUMATIC EQUIPMENT IS DISASSEMBLED OR PARTS REPLACED WHILE AIR IS STILL SUPPLIED DO SERVICE WORK AFTER FIRST TURNING OFF THE CONTROLLER AND REDUCING THE AIR PRESSURE BEFORE REDUCING THE AIR PRE...

Page 14: ...ANGEROUS PLEASE CONSULT OMRON DEALER FOR CORRECTIVE ACTION WARNING BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN WHILE IT IS ROTATING WHEN REMOVING THE FAN COVER FOR INSPECTION...

Page 15: ...CTIVE WALL ALLOW A SPACE OF AT LEAST 100MM BETWEEN THE FAN VENT AND THE WALL TO ENSURE AIR FLOW AND COOLING EFFECTS CAUTION THE ROBOT MUST BE OPERATED WITH CORRECT TOLERABLE MOMENT OF INERTIAAND ACCEL...

Page 16: ...inspection adjustment and repair has received appropriate training and also has the skills needed to perform the job correctly and safely Since the XP series robots fall under the industrial robot cat...

Page 17: ...limited as needed by use of mechanical stoppers Ex cluding the R6YXP250 R6YXP350 and R6YXP400 On the Y axis arm mechanical stoppers are fixed at both ends of the maximum movement range The Z axis has...

Page 18: ...ngerous situations are more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be taken on the part of the system manufacturer according...

Page 19: ...oller 1 Is the robot securely and correctly installed 2 Are the electrical connections to the robot correct 3 Are items such as air pressure correctly supplied 4 Is the robot correctly connected to pe...

Page 20: ...ter 4 4 Teaching For items 1 to 3 follow the precautions and procedure for each section To perform item 4 refer to the description in 2 below 2 Teaching When performing teaching within the safeguard e...

Page 21: ...to ensure that the robot is in automatic operation 2 Never enter the safeguard enclosure during automatic operation 3 If an error occurs in the robot or peripheral equipment observe the following pro...

Page 22: ...ge of time natural wear and tear occurring dur ing operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not affect the ca...

Page 23: ...MRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY W...

Page 24: ...Safely 12 CE Marking When the OMRON robots are exported to or used in EU European Union countries refer to the separate OMRON Robot Controller User s Manual or CE marking Supplement Manual for relate...

Page 25: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1...

Page 26: ......

Page 27: ...rge port 6 Exhaust port 6 12 Connector for user wiring pins 1 to 10 Connector for user wiring pins 1 to 10 machine harness M4 ground terminal Robot cable Serial number label End effector attachment Be...

Page 28: ...label Warning label 3 X axis speed reduction gear X axis motor X axis arm Y axis speed reduction gear Y axis motor Z axis motor R axis motor Warning label 2 Same on opposite side Warning label 1 Same...

Page 29: ...Installation 1 Robot Installation Conditions 3 1 1 1 Protection rating for moisture and dust on dust drip proof models 3 1 2 User Wiring Connectors and User Tubing 3 2 3 Air Purge Tubing 3 6 4 Exhaust...

Page 30: ......

Page 31: ...ee of protection versus water penetration 5 At level 5 water injected from an optional angle does not exert a harmful effect Water injection pressure per the standards is 30kPa 30kN m2 0 3kgf cm2 Inje...

Page 32: ...ires 30V 1 5A 0 2mm2 Yes User Wiring Rated voltage Allowable current Nominal cross section area of conductor Shield 2 Both the arm and the base robot pedestal have user wiring connectors and user tubi...

Page 33: ...nt item to make the section under the cable clamp fatter Otherwise moisture and dust will penetrate inside NO 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 24 Signal User signal line Flame Ground...

Page 34: ...ERFERE WITH THE ROBOT MOVEMENT ENTANGLE AROUND THE ROBOT OR FLAP AROUND DURING OPERATION WIRING AND TUBING MIGHT THEN BE DAMAGED CAUSING MALFUNCTION OF THE ROBOT WARNING LAY OUT THE USER CABLE ATTACHE...

Page 35: ...Connector on arm side NJW 28 24 PF 18 NJW 24 16 PF 15 Connector on base pedestal side Manufacturer Nanahoshi Science Laboratory 5 To check the operation and signal exchange between the end effector an...

Page 36: ...of air filter should be 40 m or less Always use air purge Water or dust may get inside the robot depending on the usage environment Adjust the pressure and flow rate with the speed controllers on the...

Page 37: ...If moisture or dust is entering from these exhaust ports connect them to a 12mm diameter air tube extending to a location free of dust and moisture WARNING TURN OFF POWER TO THE CONTROLLER BEFORE DOIN...

Page 38: ......

Page 39: ...ing the Y axis arm upper cover R6YXP250 to R6YXP400 4 2 1 2 Removing the Y axis arm upper cover R6YXP500 R6YXP600 4 6 1 3 Removing the Y axis arm upper cover R6YXP700 to R6YXP1000 4 10 2 Origin Positi...

Page 40: ......

Page 41: ...in 1 1 to 1 3 Cover name Base pedestal rear cover Base pedestal front cover Y axis arm upper block Y axis arm side frame Screw No 1 2 3 4 Screw size M4x18 M4x12 M3x20 M3 seal washer M4x6 Qty 4 4 4 10...

Page 42: ...ace marks so the air tubes can later be connected back to their original positions 7 Remove the YM ZM RM YP ZP RP ZBK FG and IO connectors 8 Cut the Insulock tie straps that are clamping the machine h...

Page 43: ...and R axis joint air purge tubes from their couplings Place marks so the air tubes can later be connected back to their original positions 16 Remove the IO connectors inside the cover 17 Remove the s...

Page 44: ...red User tubing 3 4 blue Cover holder Pull in this direction Only one FG connector is wired 2 M4x12 Base front cover Flexible cable Flexible coupling Shaft Flexible coupling Y axis arm upper block Gas...

Page 45: ...x18 User tubing 1 4 black User tubing 2 4 red User tubing 3 4 blue R axis joint air purge port 6 Y axis joint air purge port 6 X axis joint air purge port 6 Base rear cover Insulock tie strap FGwire r...

Page 46: ...YP ZP RP ZBK FG and IO connectors 8 Cut the Insulock tie straps that are clamping the machine harness 9 Loosen the flexible couplings and extract from the shaft 10 Remove the machine harness from the...

Page 47: ...arm upper cover then remove the block and cover together from the Y axis arm Bring the block and cover over to the robot base side and perform the required maintenance or other task 20 When reinstall...

Page 48: ...one FG connector is wired User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue Cover holder Flexible coupling Gasket Shaft Y axis arm upper block Flexible cable Flexible coupling Gasket Shaf...

Page 49: ...washer M4 seal washer 7 M4x8 User tubing 3 6 blue User tubing 2 6 red User tubing 1 6 black X axis joint air purge port 6 Y axis joint air purge port 6 R axis joint air purge port 6 Base rear cover 1...

Page 50: ...s 8 Cut the Insulock tie straps that are clamping the machine harness 9 Loosen the flexible couplings and extract from the shaft 10 Remove the machine harness from the shaft hole Handle with care not...

Page 51: ...over holder 19 Remove the screws on the bottom of the Y axis arm upper cover then remove the block and cover together from the Y axis arm Bring the block and cover over to the robot base side and perf...

Page 52: ...9 M4x10 2 M4x8 3 M4x30 M4 seal washer Flexible coupling Gasket Y axis arm upper block Flexible cable Shaft User tubing 1 6 black User tubing 3 6 blue User tubing 2 6 red Y axis arm upper cover Cover h...

Page 53: ...M4 seal washer 7 M4x8 User tubing 1 6 black User tubing 2 6 red User tubing 3 6 blue X axis joint air purge port 6 black Y axis joint air purge port 6 red R axis joint air purge port 6 blue Base rear...

Page 54: ...6YXP250 to R6YXP400 are attached to the locations shown in Fig 4 4 below which are different from standard models Refer to Fig 4 4 when performing absolute reset or changing the origin positions and a...

Page 55: ...M1895 000 KN8 M1895 000 Model R6YXP250 to R6YXP400 R6YXP500 R6YXP600 R6YXP700 to R6YXP1000 Type S38 S50 S50 2 Turn off the controller 3 Place a sign indicating the robot is being adjusted to keep oth...

Page 56: ......

Page 57: ...CHAPTER 5 Specifications 1 Robot Manipulator 5 1 1 1 Basic specifications 5 1...

Page 58: ......

Page 59: ...XYresultant Z axis R axis XY axes Z axis R axis R6YXP250 125mm 115 125mm 130 150mm 180 200W 100W 100W 100W 4 0m s 1 0m s 1020 s 0 01mm 0 01mm 0 005 3kg R6YXP350 225mm 115 125mm 130 150mm 180 200W 100W...

Page 60: ...angle X axis Y axis Z axis R axis XY resultant Z axis R axis XY axes Z axis R axis R6YXP500 250mm 120 250mm 145 200 300mm 180 400W 200W 200W 100W 4 9m s 1 7m s 876 s 0 02mm 0 01mm 0 005 10kg R6YXP600...

Page 61: ...02mm 0 01mm 0 005 20kg 20 cables 6x3 Arm length Rotation angle Arm length Rotation angle Stroke Rotation angle X axis Y axis Z axis R axis XY resultant Z axis R axis X Y axes Z axis R axis X axis Y ax...

Page 62: ...log number on the front cover of the manual Cat No I143E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revisio...