Omron SCARA R6Y-XC Series, User Manual

Page 1: ...ZX T Series Cat No I144E EN 01 R6Y XC series USER S MANUAL Cat No I144E EN 01 SCARA Robot R6Y XC series USERS MANUAL SCARA Robots XC Series...

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Page 3: ...hen setting the origin position with the robot arm extended you must check that there will not be any interference from any peripheral equip ment during the next absolute reset 2 Setting a position OT...

Page 4: ...ce Coordinates in Chapter 4 of this manual and also to Setting the Reference Coordinates in the OMRON Robot Controller User s Manual Robot malfunctions vibration noise may occur if the reference coord...

Page 5: ...ual was prepared for XC series ceiling mount models R6YXCH250 to R6YXC1000 of the OMRON industrial robots This user s manual describes the safety measures handling adjustment and maintenance of XC ser...

Page 6: ...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 7: ...Repair and Modification 1 13 11 Warranty 1 14 12 CE Marking 1 16 CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 5 CHAPTER 3 Installation 1 Robot Installation Conditions 3 1 1 1 Inst...

Page 8: ...2 Equation for moment of inertia calculation 3 46 6 3 Example of moment of inertia calculation 3 46 6 4 Attaching the end effector 3 47 6 5 Gripping force of end effector 3 51 7 Limiting the Movement...

Page 9: ...1 2 Precautions 5 2 3 Daily Inspection 5 3 4 Six Month Inspection 5 5 5 Replacing the Harmonic Drive 5 8 5 1 Replacement period 5 8 5 2 Basic replacement procedure for harmonic drive and precautions...

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Page 11: ...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...

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Page 13: ...rsion of the instruction manual on your computer screen 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 p...

Page 14: ...e 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 wi...

Page 15: ...s in this manual Fig 1 3 Warning label 3 4 Do not use the robot in environments containing inflammable gas etc 5 Do not use the robot in locations possibly subject to electromagnetic interference etc...

Page 16: ...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 17: ...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 18: ...DANGEROUS 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 INSPECTIO...

Page 19: ...T OF INERTIA IF THIS IS NOT OBSERVED PREMATURE END TO THE LIFE OF THE DRIVE UNITS DAMAGE TO THE ROBOT PARTS OR RESIDUAL VIBRATION DURING POSITIONING MAY RESULT CAUTION IF THE X Y OR R AXIS ROTATION AN...

Page 20: ...inspection adjustment and repair has received appropriate training and also has the skills needed to perform the job correctly and safely Since the XC series robots fall under the industrial robot cat...

Page 21: ...imited as needed by use of mechanical stoppers Ex cluding the R6YXCH250 R6YXCH350 and R6YXCH400 On the Y axis arm mechanical stoppers are fixed at both ends of the maxi mum movement range The Z axis h...

Page 22: ...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 23: ...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 24: ...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 25: ...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 fol lowing pro...

Page 26: ...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 27: ...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 28: ...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 29: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 5...

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Page 31: ...ferent types of end effector gripper to the end of the arm a wide range of tasks can be performed with high precision at high speeds The and signs show the direction of axis movement when the jog keys...

Page 32: ...is R axis pulley belt Machine harness Z axis spline User tubing 3 4 blue User tubing 1 4 black X axis mechanical stopper Y axis mechanical stopper D sub connector for user wiring No 1 to 10 User tubin...

Page 33: ...abel 2 Same on opposite side X axis arm X axis speed reduction gear X axis motor Warning label 3 Machine harness 2 2 M4 0 7 Depth10 Same on opposite side Bellows Bellows bottom clamp plate User tubing...

Page 34: ...axis speed reduction gear X axis arm X axis motor Warning label 3 Machine harness Z axis spline Y axis mechanical stopper Eyebolt installation position X axis movable mechanical stopper M4 ground ter...

Page 35: ...ller YRC For more de tails refer to the separate OMRON Robot Controller User s Manual Fig 2 5 Robot controller PB MOTOR XM YM ZM RM PWR S R V SAFET Y COM STD DIO ROB I O ZR OP 1 OP 3 OP 2 OP 4 RGEN AC...

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Page 37: ...Acceleration coefficient vs moment of inertia R6YXCH350 3 23 6 1 3 Acceleration coefficient vs moment of inertia R6YXCH400 3 24 6 1 4 Acceleration coefficient vs moment of inertia R6YXC500 3 25 6 1 5...

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Page 39: ...6 0kgf cm2 clean dry air not containing deteriorated compressor oil filtration 40 m or less Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on ho...

Page 40: ...3 2 CHAPTER 3 Installation WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE MANIPULATOR TO FALL OVER...

Page 41: ...0 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 N kgf Nm kgfm N kgf 305 31 56 6 40 4 330 34 56 6 40 4 391 40 56 6 40 4 708 72 137 14 89 9 735 75 137 14 89 9 1653 169 304 31 159 16 1707 174 3...

Page 42: ...BY MOVEMENT OF THE INSTALLATION BASE RESULTING IN DAMAGE TO THE ROBOT CAUTION THE MANIPULATOR POSITIONING MIGHT DECREASE IF THE INSTALLATION SURFACE PRECISION IS INSUFFICIENT CAUTION IF THE INSTALLATI...

Page 43: ...t controller and accessories R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 Robot manipulator Arm clamping stay Used only for transportation Remove after installation Illustrations show examples of sta...

Page 44: ...DIO connector 1 Power plug 1 Terminator 1 Warning label 1 Eyebolts 2 Origin position stickers 2 R6YXC500 R6YXC600 3 D sub connector hood 2 A B X Y Z R YRC MOT OR XM YM ZM RM PWR SRV ERR SAFE TY PB COM...

Page 45: ...ng 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...

Page 46: ...nical stoppers are installed to provide the maximum movement range 4 Screw the two eyebolts securely into the tapped hole on the machined bearing surface of the X axis arm CAUTION WHEN MOVING THE ROBO...

Page 47: ...ng 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...

Page 48: ...aring surface for eyebolt Bearing surface for eyebolt Bolt 2 pieces supplied with the robot Tightening toeque 4 5N m 46kgf cm Hoist hook Rope Eyebolt 2 pieces supplied with the robot M12 x 20mm length...

Page 49: ...ue Depth of tapped holes in installation base Iron installation base Bolt diameter 1 5 or more Aluminum installation base Bolt diameter 3 or more Fig 3 6 Installing the robot Installation base Hex soc...

Page 50: ...evice which if it malfunctions might make contact with the power supply the user must provide proper grounding on his own responsibility The XC series robots do not have a ground terminal for this pur...

Page 51: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal M4 Ground terminal Ground symbol...

Page 52: ...FUSE THESE CONNECTORS WHEN MAKING CONNECTIONS WRONG CONNECTIONS MAY RESULT IN MALFUNCTION AND HAZARDOUS SITUATIONS WARNING IF THE CONNECTOR INSTALLATION IS INADEQUATE OR IF THERE ARE CONTACT FAILURES...

Page 53: ...Robot side connector YRC XM YM ZM RM ROB I O XY ROB I O ZR XM YM ZM RM XY ZR Fig 3 8 Robot cable connections WARNING LAY OUT THE ROBOT CABLES SO AS TO KEEP THE OPERATOR OR ANY OTHER PERSON FROM TRIPPI...

Page 54: ...rve the specifications 30V 1 5A 0 2mm2 Yes User Wiring Rated voltage Allowable current Nominal cross section area of conductor Shield User Tubing Maximum pressure Outer diameter inner diameter Fluid 0...

Page 55: ...ound Robots models with non standard specifications may have different wiring colors 2 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 Connector pins 1 to 24 can be used Pin 25 is connected to a shield...

Page 56: ...D sub connector on base side As viewed from solder side 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 R6YXC500 R6...

Page 57: ...D TO THE BULKHEAD UNION FOR USER TUBING WILL NOT INTERFERE WITH THE ROBOT MOVEMENT ENTANGLE AROUND THE ROBOT OR FLAP AROUND DURING OPERATION WIRING AND TUBING MIGHT THEN BE DAMAGED CAUSING MALFUNCTION...

Page 58: ...2 When the tip mass parameter is set to 2kg the robot can be operated by reducing the X Y and R axis acceleration coefficients to 60 as can be seen from Fig 3 11 Be sure to select an optimum tip mass...

Page 59: ...EN THE X Y OR R AXIS MOVES IF THIS HAPPENS REDUCE THE X Y OR R AXIS ACCELERATION TO AN APPROPRIATE LEVEL CAUTION IF THE MOMENT OF INERTIA IS TOO LARGE VIBRATION MAY OCCUR ON THE Z AXIS DEPENDING ON IT...

Page 60: ...80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 01 0 1 Fig 3 10 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 01 0 1 Fig 3 11...

Page 61: ...60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 005 0 05 Fig 3 13 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 0 004 0 04 Fig 3 14...

Page 62: ...kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 Fig 3 16 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 01 0 1 0 02 0 2 0 03 0 3 0 04 0 4 0 05 0 5 Fig 3 17 m 2kg...

Page 63: ...Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 19 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 20 m 2kg 100...

Page 64: ...20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 22 m 4kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 23 m 5kg 100 AX AY AR Ir kgm2 Jr kgf cm sec...

Page 65: ...allation 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 007 0 07 Fig 3 25 m 8 9kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 03...

Page 66: ...Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 27 m 1kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 28 m 2kg 10...

Page 67: ...0 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 30 m 4kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 01 0 1 Fig 3 31 m 5kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2...

Page 68: ...llation 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 005 0 05 Fig 3 33 m 8 9kg 100 AX AY AR Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 04 0 4 0 08 0 8 0 12 1 2 0 015...

Page 69: ...on coefficient vs moment of inertia R6YXC700 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 35 m 1kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 2...

Page 70: ...nstallation 100 AX AY AR 0 03 0 3 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 37 m 3 4kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 71: ...nstallation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 39 m 7 8kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 72: ...lation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 41 m 11 to 13kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 73: ...3 35 CHAPTER 3 Installation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 43 m 17 to 20kg...

Page 74: ...on coefficient vs moment of inertia R6YXC800 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 44 m 1kg 100 AX AY AR 0 03 0 3 Ir kgm2 Jr kgf cm sec2 80 60 40 2...

Page 75: ...nstallation 100 AX AY AR 0 03 0 3 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 46 m 3 4kg 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 76: ...nstallation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 48 m 7 8kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 77: ...lation 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 50 m 11 to 13kg 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 78: ...3 40 CHAPTER 3 Installation 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 52 m 17 to 20kg...

Page 79: ...n coefficient vs moment of inertia R6YXC1000 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 53 m 1kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 2...

Page 80: ...nstallation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 55 m 3 4kg 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 F...

Page 81: ...stallation 100 AX AY AR 0 01 0 1 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 57 m 7 8kg 100 AX AY AR 0 015 0 15 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0...

Page 82: ...ation 100 AX AY AR 0 02 0 2 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 59 m 11 to 13kg 100 AX AY AR 0 025 0 25 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0...

Page 83: ...3 45 CHAPTER 3 Installation 100 AX AY AR 0 030 0 30 Ir kgm2 Jr kgf cm sec2 80 60 40 20 0 0 0 1 1 0 0 2 2 0 0 3 3 0 Fig 3 61 m 17 to 20kg...

Page 84: ...lculation refer to 6 2 Equation for mo ment of inertia calculation in Chapter 3 of the standard model X user s manual 6 3 Example of moment of inertia calculation For example of moment of inertia calc...

Page 85: ...ch robot during operation Recommended methods for attaching end effectors are shown in Table 3 2 and Fig 3 65 Refer to Fig 3 62 and Fig 3 63 for details on the end effector attachment of each robot Wh...

Page 86: ...6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 N kgf N kgf N kgf Nm kgfm Nm kgfm 46 5 40 4 121 12 6 0 6 5 0 5 46 5 40 4 121 12 6 0 6 5 0 5 46 5 40 4 121 12 6 0 6 5 0 5 115 12 89 9 253 26 12 1 3 10 1 0 1...

Page 87: ...s Nm kgf cm M4 or lager 2 or more 4 5 46 12 M4 or lager 2 or more 4 5 46 12 M4 or lager 2 or more 4 5 46 12 M6 or lager 2 or more 15 3 156 18 M6 or lager 2 or more 15 3 156 18 M8 or lager 2 or more 37...

Page 88: ...PROVIDED ON THE LOWER PART OF THE END EFFECTOR ATTACHMENT SHOULD BE USED ONLY FOR PREVENTING THE END EFFECTOR FROM COMING LOOSE DO NOT FASTEN THE END EFFECTOR JUST BY USING THIS TAPPED HOLE IF THE EN...

Page 89: ...by an amount equal to the offset versus the arm length When the R axis rotates during operation this ac celeration ARmax must be taken into account Table 3 3 Maximum acceleration during robot operatio...

Page 90: ...ning precision To change the X axis mechanical stopper positions use the procedure below 1 Prepare the following tools Hex wrench set 2 Turn off the robot controller 3 Place a sign indicating the robo...

Page 91: ...guard enclosure 8 Check that no one is inside the safeguard enclosure when turning on the controller Table 3 4 Robot Model R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 Bolt size Tightening torque kgf...

Page 92: ...axis Mechanical stopper fixation Fig 3 67 Mechanical stopper positions and movement range R6YXC500 R6YXC600 Tapped hole for stopper installation Y axis Mechanical stopper fixation X axis Mechanical s...

Page 93: ...ig 3 76 5 150 0 12 144 5 2 0 1 1 5 1 3 0 R106 76 180 76 R125 1 3 0 R250 1 1 5 1 3 0 1 3 3 R125 7 6 1 8 R1 25 180 53 R 1 0 0 1 3 3 1 3 0 Working envelope Manipulator interference area X and Y axis mech...

Page 94: ...0 1 3 3 160 98 98 Z axis upper end mechanical stopper position Z axis lower end mechanical stopper position R6YXCH350 Z axis mechanical stopper position Interference position a Base flange b Base rear...

Page 95: ...ea 1 4 5 1 4 5 1 2 3 R175 R 1 2 9 91 180 91 Manipulator interference area X and Y axis mechanical stopper positions maximum working envelope 1 2 3 Z axis upper end mechanical stopper position 144 5 2...

Page 96: ...end mechanical stopper position Working envelope R250 R 5 0 0 1 2 0 1 2 0 R 1 6 3 142 142 R83 c R65 a R40 b X and Y axis mechanical stopper positions maximum working envelope 1 2 2 147 R 5 0 0 147 1 2...

Page 97: ...4 1 2 0 145 145 1 2 0 R 1 2 4 c R 1 1 7 a R77 b Interference position a Base flange b Base rear side c Base 1 2 2 147 R 1 9 6 R 6 0 0 R250 1 2 2 147 R111 a R116 c R70 b 0 R6YXC600 Z axis mechanical s...

Page 98: ...0 b Interference position a Base flange b Base rear side c Base R350 1 2 3 147 147 R700 R199 1 2 3 R93 c R83 a R49 b R6YXC700 Z axis mechanical stopper position 0 Z axis upper end mechanical stopper p...

Page 99: ...6 b Interference position a Base flange b Base rear side c Base 147 147 1 2 3 R 2 4 7 R350 R800 1 2 3 R98 b R141 c R145 a 0 R6YXC800 Z axis mechanical stopper position Z axis upper end mechanical stop...

Page 100: ...450 R 3 1 5 145 1 2 0 1 2 0 R1000 145 R167 b R 2 0 6 a R209 c 1 2 3 147 1 2 3 R450 R 1 0 0 0 147 R 3 0 0 R194 c R193 a R153 b 0 R6YXC1000 Z axis mechanical stopper position Z axis upper end mechanical...

Page 101: ...tions 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 positi...

Page 102: ...load mass maximum speed Robot model R6YXCH250 R6YXCH350 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 X axis Y axis 10 6 6 2 2 2 2mm 5mm 5mm 2mm 2mm 2mm Z axis Upper end Lower end Note Here...

Page 103: ...thod 4 2 3 4 2 Mark method 4 2 3 4 3 Stroke end method 4 3 4 Setting the Soft Limits 4 6 5 Setting the Standard Coordinates 4 8 6 Affixing Stickers for Origin Positions Movement Directions and Axis Na...

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Page 105: ...indicating the robot is being adjusted to prevent others from touching the controller switch programming box or operation panel 3 If a safeguard enclosure has not yet been provided right after install...

Page 106: ...et procedures refer to 3 Adjusting the origin in Chapter 4 of the standard model X user s manual 3 4 Changing the origin position and adjusting the machine reference For information on changing the or...

Page 107: ...absolute reset see 3 3 Absolute reset procedures in Chapter 4 4 Turn off the controller 5 Enter the safeguard enclosure 6 Remove the Y axis upper cover and under cover R6YXC500 to R6YC1000 To remove t...

Page 108: ...lute reset see 3 3 Absolute reset procedures in Chapter 4 After absolute reset is complete use the following procedure to check if the adjustment machine reference value is within the tolerance range...

Page 109: ...M3 6 Z axis motor Fig 4 1 R6YXCH250 R6YXCH350 R6YXCH400 Z axis motor installation bolt M5 14 Z axis motor Fig 4 2 R6YXC500 R6YXC600 Z axis motor installation bolt M5 12 Y axis motor Fig 4 3 R6YXC700...

Page 110: ...r position cannot be changed reduce the soft limits to narrow the working envelope when the actual working range of the robot is small or the manipulator interferes with the peripheral equipment 1 Che...

Page 111: ...nd R axis movement angle the Z axis move ment distance and the number of pulses The tables below are for calculating resolver pulses with respect to the X Y and R axis movement angles and to the Z axi...

Page 112: ...hile holding the PB Stay outside the robot movement range at this time 5 Make the standard coordinate settings while referring to methods for Set ting the Standard Coordinates as explained in the OMRO...

Page 113: ...s from operating the controller switch 5 Enter the safeguard enclosure 6 Being careful not to move the origin positions attach stickers at conspi cuous points on matching sides of components such as t...

Page 114: ...4 10 CHAPTER 4 Adjustment Fig 4 6 Positions for affixing the stickers R6YXC500 R Z Y X End effector...

Page 115: ...xis arm upper cover Y axis arm upper cover X axis arm under cover Y axis arm under cover Screw No 1 2 3 4 5 6 7 8 Screw size M4x6 M4x6 M4x6 M4x6 M3x6 M3x50 M4x6 M4x6 Qty 8 4 8 2 4 4 4 4 Cover name Bas...

Page 116: ...4 12 CHAPTER 4 Adjustment Fig 4 7 M4 6 w r M3 10 t M3 16 e M3 6 with washer Base front cover Base rear cover Y axis upper cover M4 6 q...

Page 117: ...djustment Fig 4 8 Y axis upper cover Y axis under cover Base rear cover 1 X axis upper cover Base front cover Base rear cover 2 X axis under cover t M3 6 with washer r M4 6 e M4 6 q M4 6 w M4 6 y M3 5...

Page 118: ...4 Adjustment Fig 4 9 Base rear cover 2 Base rear cover 1 Y axis upper cover X axis upper cover Base front cover X axis under cover Y axis under cover t M3 6 with washer r M4 6 q M4 6 w M4 6 y M3 50 u...

Page 119: ...ig 4 11 Stay example CAUTION SINCE A POSITIONAL SHIFT OCCURS AFTER ADJUSTING THE BELT TENSION IT IS NECESSARY TO MAKE ABSOLUTE RESET STANDARD COORDINATE SETTING AND POINT DATA SETTING AGAIN WARNING TH...

Page 120: ...endicular to the middle of the belt The other person checks the slack of the belt See Fig 4 10 and Fig 4 11 8 The correct load to be applied to the belt of each robot model and the resulting slack are...

Page 121: ...oad applied to produce the specified slack is within the specified range of Table 4 6 the adjustment is okay If not repeat the above procedure from steps 1 to 3 9 After adjustment is complete tighten...

Page 122: ...cular to the middle of the belt The other person checks the slack of the belt See Figs 4 10 and 4 11 8 The correct load to be applied to the belt of each robot model and the resulting slack are shown...

Page 123: ...ad applied to produce the specified slack is within the specified range of Table 4 6 the adjustment is okay If not repeat the above procedure from steps 1 to 3 9 After adjustment is complete tighten t...

Page 124: ...d perpendicular to the middle of the belt The other person checks the slack of the belt See Figs 4 10 and 4 11 8 The correct load to be applied to the belt of each robot model and the resulting slack...

Page 125: ...plied to produce the specified slack is within the specified range of Table 4 6 the adjustment is okay If not repeat the above procedure from steps 1 to 3 9 After adjustment is complete tighten the bo...

Page 126: ...R6YXCH250 R6YXCH350 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 Load N 1 3 to 1 7 1 3 to 1 7 2 1 to 2 9 3 6 to 5 0 3 6 to 5 0 Load kgf 0 13 to 0 17 0 13 to 0 17 0 22 to 0 30 0 37 to 0 51 0...

Page 127: ...Month Inspection 5 5 5 Replacing the Harmonic Drive 5 8 5 1 Replacement period 5 8 5 2 Basic replacement procedure for harmonic drive and precautions 5 9 5 2 1 R6YXCH250 R6YXCH350 R6YXCH400 5 11 5 2...

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Page 129: ...edures for the OMRON XC series robots Periodic inspection includes Daily inspection 6 month inspection Replacement of speed reduction gear harmonic drive Make sure that you thoroughly understand detai...

Page 130: ...ance procedure calls for operation of the robot stay outside the safeguard enclosure 5 Place a sign indicating the robot is being inspected to keep others from operating the controller switch programm...

Page 131: ...ble Emergency stop device Press the emergency stop button to check if it works Robot movement Check for abnormal movement and excessive vibration and noise If any abnormal symptom is found contact OMR...

Page 132: ...ller and then enter the safeguard enclo sure to perform the necessary work After adjustment or replacement is finished again review the checkpoints outlined in 1 and 2 above 2 If repair or parts repla...

Page 133: ...BEFORE HANDLING THE GREASE WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH SKIN BE SURE TO WEAR PROTE...

Page 134: ...month lubricate the Z axis ball screw nut with grease gun and the linear shaft spline shaft and ball screw shaft by hand after removing the old grease The specified grease is LG2 Nihon Seiko Check for...

Page 135: ...an if necessary 3 Adjustment and parts replacement 1 If adjustment or parts replacement is required after inspection turn off the robot controller before entering the safeguard enclosure and begin nin...

Page 136: ...ating 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 8 4 108 n 60...

Page 137: ...T CONTACT WITH SKIN DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDR...

Page 138: ...HE HARMONIC DRIVE SERVICE LIFE MAY SHORTEN IF THE GREASE RECOMMENDED BY OMRON IS NOT USED CAUTION SINCE A POSITIONAL SHIFT OCCURS AFTER REPLACING THE HARMONIC DRIVE IT IS NECESSARY TO MAKE ABSOLUTE RE...

Page 139: ...F 20 50 KN3 M2110 001 S71 JIS KN3 M2159 000 Top of harmonic drive O ring Rubber wire diameter 1 50mm x Ring inner diameter 49 00mm KN3 M2143 000 For motor Rubber wire diameter 0 99mm x Ring inner diam...

Page 140: ...40L 8 pieces See Fig 5 1 M3 40 M6 14 Fig 5 1 O ring S71 KN3 M2159 000 Fig 5 2 7 Disconnect the connectors on the X axis motor power cable XM and resolver cable XP CAUTION AN O RING IS FITTED TO THE X...

Page 141: ...ate base 1 and base 2 See Fig 5 1 and Fig 5 3 M6 14 M5 12 Base 1 Base 2 Fig 5 3 9 Remove the bolts M5 12L 4 pieces securing the motor and remove the motor from base 1 See Fig 5 4 M5 12 Fig 5 4 CAUTION...

Page 142: ...the harmonic drive coated with harmonic grease into the O ring groove on the new harmonic drive Apply small amounts of Screw Lock to the bolts M3 20L 16 pieces and tighten them to secure the harmonic...

Page 143: ...t to secure the wave generator See Fig 5 6 16 Fit a new O ring to the motor and secure the motor to base 1 with the bolts M5 12L 4 pieces you removed earlier See Fig 5 4 17 Fasten base 1 to base 2 wit...

Page 144: ...utside the safeguard enclosure 22 Check that no one is inside the safeguard enclosure and then turn on the control ler CAUTION AFTER THE HARMONIC DRIVE IS REPLACED AN ABSOLUTE RESET MUST BE PERFORMED...

Page 145: ...er0 80mmxRinginnerdiameter45 40mm KN3 M257L 000 Suppliedwithharmonicdrive 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the contro...

Page 146: ...set screws 2 pieces See Fig 5 10 9 Remove the flange installation bolts M5 20 6 pcs and then detach the flange from the X axis arm Next remove the bolts M3 20 6 pcs securing the Y axis harmonic drive...

Page 147: ...he flange See Fig 5 8 14 Fit an O ring supplied with the harmonic drive coated with harmonic grease into the O ring groove on the new harmonic drive 15 Apply harmonic grease to the new wave generator...

Page 148: ...ng KN3 M257K 000 Y axis arm Remove the temporarily tightened bolts when assembling Keep the circular spline from coming off when assembling Fig 5 10 17 Secure the Y axis arm to the harmonic drive with...

Page 149: ...KN5 M181G 000 For wave generator Suppliedwithharmonicdrive VR18A KN3 M1886 000 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the...

Page 150: ...by the edge of the rod After removing the bearing refit the U nut to the top of the spline shaft to keep the spline shaft from falling out Spline nut U nut Spline shaft Fig 5 12 8 Remove the button bo...

Page 151: ...y set screw M4 2 pieces and remove the pulley from the wave generator See Fig 5 15 11 Remove the harmonic drive installation bolts M3 18L 8 pieces and pull out the harmonic drive from the bottom of th...

Page 152: ...bolts when assembling Keep the circular spline from coming off when assembling Wave generator Retaining ring groove Fit a new O ring into the O ring groove on the wave generator O ring KN3 M181H 000 C...

Page 153: ...5 17 Next secure the fastening plate to the harmonic drive with the button bolts M3 20L 6 pieces you removed earlier See Fig 5 13 At this point be careful to keep the spline shaft from coming off the...

Page 154: ...ig 5 12 23 Attach the bearing mount plate to the holder and fasten them with the bolts you removed earlier M4 8L 4 pieces 24 Reattach the Y axis arm upper cover 25 Go outside the safeguard enclosure 2...

Page 155: ...re diameter 1 78mm Ring inner diameter 85 00mm Rubber wire diameter 1 78mm Ring inner diameter 69 57mm Rubber wire diameter 1 30mm Ring inner diameter 66 50mm KN4 M2159 000 KN5 M2143 000 Base robot pe...

Page 156: ...bolts M6 14L 4 pieces securing the motor and remove the motor from the motor holder See Fig 5 18 10 Remove the wave generator from the motor shaft The wave generator is secured with an M4 set screw a...

Page 157: ...M4 40L 8 PIECES IN THE NEXT STEP THE X AXIS ARM MAY COME OFF CAUSING A HAZARDOUS SITUATION BE ESPECIALLY CAREFUL TO KEEP THE ARM FROM FALLING WHEN A HEAVY TOOL IS ATTACHED TO THE ARM TIP WARNING REMOV...

Page 158: ...rmonic drive Then apply small amounts of Screw Lock to the bolts M4 40L 8 pieces you removed earlier and tighten them uniformly to secure the X axis arm See Fig 5 19 18 Fit the spacer and wave generat...

Page 159: ...or holder and tighten the bolts M6 20L 4 pieces you removed earlier to temporarily secure the motor holder to the base See Fig 5 18 21 Uniformly tighten the four bolts M6 20L temporarily fastened in t...

Page 160: ...re 25 Check that no one is inside the safeguard enclosure and then turn on the controller CAUTION AFTER THE HARMONIC DRIVE IS REPLACED AN ABSOLUTE RESET MUST BE PERFORMED AND THE STANDARD COORDINATE A...

Page 161: ...28mm KN3 M2144 000 Suppliedwithharmonicdrive 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safe...

Page 162: ...c drive installation bolts M3 40L 8 pieces from the bottom of the arm See Fig 5 25 M3 40 Fig 5 25 12 Remove the Y axis harmonic drive from the top of the X axis arm WARNING WHEN YOU REMOVE THE Y AXIS...

Page 163: ...to the harmonic drive with the bolts M3 20L 12 pieces you removed earlier Apply small amounts of Screw Lock to the bolts and tighten them uniformly to secure the Y axis arm See Fig 5 24 17 Apply harmo...

Page 164: ...L 4 pieces you removed earlier to temporarily secure the motor to the Y axis arm See Fig 5 23 and Fig 5 27 20 Uniformly tighten the four bolts M5 12L temporarily fastened in the previous step while mo...

Page 165: ...ng inner diameter 45 40mm 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safeguard enclosure 5 Re...

Page 166: ...5 29 Use a round steel rod with a diameter slightly smaller than 7mm Avoid using a square rod because the spline might be damaged by the edge of the rod At this point be careful to keep the spline sh...

Page 167: ...installation bolts M3 16L 9 pieces and pull out the harmonic drive from the bottom of the Y axis arm See Fig 5 32 M4 10 M4 set screw M3 16 Pulley Fig 5 32 12 Remove the retaining ring for the wave ge...

Page 168: ...ds 15 Apply harmonic grease to the circular spline See Fig 5 33 for applying grease properly 16 Remove the four bolts temporarily tightened to the new harmonic drive 17 Fit an O ring supplied with the...

Page 169: ...mount plate and bearing onto the spline from the top and tighten the U nut to secure the baring Utilize the 7 through hole when tightening the U nut like you did to loosen it See Fig 5 29 22 Insert t...

Page 170: ...ts Parts name Type No OMRON Parts No Note Harmonic drive SHF 32 80 KN5 M2110 001 R6YXC700 R6YXC800 SHF 32 100 KN5 M2110 101 R6YXC1000 O ring S115 JIS KN5 M2159 000 Top of harmonic drive Rubberwirediam...

Page 171: ...ig 5 35 8 Slowly pull out the motor while holding it slantways See Fig 5 36 If it is difficult to remove the motor slowly rotate the X axis arm and again try removing the motor Fig 5 36 CAUTION CAREFU...

Page 172: ...place it where it will not obstruct the work WARNING WHEN YOU REMOVE THE X AXIS ARM INSTALLATION BOLTS M5 55L 8 PIECES IN THE NEXT STEP THE X AXIS ARM MAY COME OFF CAUSING A HAZARDOUS SITUATION BE ESP...

Page 173: ...rmonic drive See Fig 5 39 M5 25 M5 35 Fig 5 39 13 Remove the X axis harmonic drive from the top of the base CAUTION AN O RING IS FITTED TO THE X AXIS ARM SO BE CAREFUL NOT TO LET IT DROP INTO THE PERI...

Page 174: ...applying grease properly 16 Fit a new O ring into the O ring groove on the X axis arm and secure it to the harmonic drive Then apply small amounts of Screw Lock to the bolts M5 55L 8 pieces you remove...

Page 175: ...O ring to the motor and temporarily fasten the motor and spacer to the base with the bolts M6 20L 4 pieces you removed earlier Insert a new O ring between the spacer and the base at this point Insert...

Page 176: ...er cover 22 Go outside the safeguard enclosure 23 Check that no one is inside the safeguard enclosure and then turn on the controller CAUTION AFTER THE HARMONIC DRIVE IS REPLACED AN ABSOLUTE RESET MUS...

Page 177: ...er 1 30mm x Ring inner diameter 66 50mm KN5 M257L 000 Suppliedwithharmonicdrive 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the...

Page 178: ...obstruct the work CAUTION AN O RING IS FITTED TO THE MOTOR SO BE CAREFUL NOT TO LET IT DROP INTO THE PERIPHERAL UNIT CAUTION WHEN YOU REMOVE THE Y AXIS ARM INSTALLATION BOLTS M4 20L 16 PIECES IN THE...

Page 179: ...d with harmonic grease into the O ring groove on the X axis arm See Fig 5 44 14 Place the new harmonic drive on the X axis arm and secure it with the bolts M4 45L 8 pieces you removed earlier Apply sm...

Page 180: ...emoved earlier and tighten it to secure the wave generator See Fig 5 45 Fit O ring supplied into this groove Harmonic drive will be damaged if O ring is caught out of groove O ring KN5 M257L 000 Apply...

Page 181: ...the axis at this time then reassemble from the beginning 21 Reattach the connectors on the Y axis motor power cable YM and resolver cable YP 22 Reattach the Y axis arm upper cover 23 Go outside the sa...

Page 182: ...ating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safeguard enclosure 5 Remove the Y axis upper cover and bellows Place the cover on the robot bas...

Page 183: ...Fig 5 47 Use a round steel rod with a diameter slightly smaller than 8mm Avoid using a square rod because the spline might be damaged by the edge of the rod At this time be careful to keep the spline...

Page 184: ...installation bolts M3 30L 13 pieces and pull out the harmonic drive from the bottom of the Y axis arm See Fig 5 50 M4 15 M3 30 M4 Set screw Pulley Fig 5 50 12 Remove the retaining ring for the wave ge...

Page 185: ...the circular spline See Fig 5 51 for applying grease properly 16 Fit an O ring supplied with the harmonic drive coated with harmonic grease into the O ring groove on the new harmonic drive See Fig 5...

Page 186: ...om the top and tighten the U nut to secure the baring Utilize the 8 through hole when tightening the U nut like you did to loosen it See Fig 5 47 21 Insert the spline and bearing through the holder an...

Page 187: ...e are two pieces each 7 Remove the screws and bolts 1 7 13 on the bellows top clamp plate 8 Pull out the bellows bottom clamp plates from the spline shaft 9 Replace O rings 6 12 18 fitted to the splin...

Page 188: ...on the controller Robot model R6YXCH250 R6YXCH350 R6YXCH400 R6YXC500 R6YXC600 R6YXC700 R6YXC800 R6YXC1000 Part name Hex socket head bolt Hex socket head bolt Set screw O ring O ring O ring Hex socket...

Page 189: ...5 61 CHAPTER 5 Periodic Inspection R6YXC500 R6YXC600 R6YXCH250 R6YXCH350 R6YXCH400 23 24 R6YXC700 R6YXC800 R6YXC1000 4 1 5 2 6 3 8 11 7 10 12 9 18 15 16 13 17 14 30 35 Fig 5 53...

Page 190: ......

Page 191: ...CHAPTER 6 Specifications 1 Manipulator 6 1 1 1 Basic specification 6 1 1 2 Robot inner wiring diagram 6 4 1 3 Wiring table 6 6...

Page 192: ......

Page 193: ...xis R axis XY axes Z axis R axis R6YXCH250 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 R6YXCH350 225mm 115 125mm 128 150mm 180 200W 100W 100W 100W 5...

Page 194: ...axis Y axis Z axis R axis XYresultant Z axis R axis XY axes Z axis R axis R6YXC500 250mm 120 250mm 142 200 300mm 180 400W 200W 200W 100W 4 9m s 1 7m s 876 s 0 02mm 0 01mm 0 005 10kg R6YXC600 350mm 120...

Page 195: ...inertia 2 User wiring User tubing Outer diameter Travel limit Robot cable Weight Cleanliness class Suction air flow 1 Soft limit 2 Mechanical limit XYZ axes 3 5m option 5m 10m Class 10 0 1 micron bas...

Page 196: ...G YORG RORG YORG XORG XORG Machine harness User IO connector User tubing Y axis arm X axis arm Round terminal R axis resolver Z axis resolver Z axis brake Z axis motor R axis motor Y axis motor Y axis...

Page 197: ...ORG IO Machine harness User tubing User IO connector Y axis arm X axis arm Round terminal X axis motor X axis resolver R axis motor R axisresolver Z axis resolver Z axis motor Z axis brake Robot cable...

Page 198: ...V U 2 3 R1 R2 DG S2 S4 S1 S3 S3 24 23 22 21 20 19 6 6 5 5 7 4 3 2 1 4 3 2 1 R1 DG S2 7 7 5 6 Signal 2 1 1 3 2 3 2 1 Blue Brown Yellow White Red Black 3 2 1 4 FG 4 3 Connection Connector No Wire Color...

Page 199: ...75sq 0 75sq 0 75sq 0 75sq 0 75sq 0 75sq Red White White Blue Red Brown White Gray White Pink Orange White Green White Yellow Blue Orange Green Brown Gray Red Black Purple Green Green Brake 4 0 15sq T...

Page 200: ...1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 User signal line ZBK Shield Frame ground Brown Red Orange Shield 0 2mm2 Twisted pair Shield 0 2mm2 Twisted pair Orange 0 2mm2 Brown Gray Brown White Red White...

Page 201: ...ld 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair Shield Shield 0 2mm2 Twisted pair 0 2mm2 Twisted pair 0 2mm2 Twisted pair Ora...

Page 202: ...S3 R1 R2 SHIELD U V W PE BK BK Color Yellow Blue Red Black White Green Black Red White Black Yellow Yellow No 1 2 3 4 5 6 7 1 2 3 1 1 2 Connector XP YP ZP RP XM YM ZM RM Round terminal ZBK Z axis moto...

Page 203: ...log number on the front cover of the manual Cat No I144E EN 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous revisio...