Omron R6Y Series - CHAPTER 4 Adjustment

CHAPTER 4
Adjustment
1 Overview ............................................................................................4-1
2 Safety Precautions ..............................................................................4-1
3 Adjusting the origin ............................................................................4-2
3-1 Absolute reset method...................................................................................4-3
3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ............................................... 4-3
3-1-2 Mark method (X-axis, Y-axis, and R-axis) .................................................. 4-4
3-1-3 Stroke end method (Z-axis) ......................................................................... 4-4
3-2 Machine reference .........................................................................................4-5
3-3 Absolute reset procedures ............................................................................. 4-6
3-3-1 Sensor method (X-axis, Y-axis, and R-axis) ............................................... 4-6
3-3-2 Mark method (X-axis, Y-axis, and R-axis) .................................................. 4-8
3-3-2-1 Absolute reset with servo on (re-reset) ................................................... 4-9
3-3-2-2 Absolute reset with servo off (re-reset) ................................................. 4-11
3-3-2-3 Absolute reset with servo on. (new reset) ............................................ 4-13
3-3-2-4 Absolute reset with servo off. (new reset) ............................................ 4-16
3-3-3 Stroke end method (Z-axis) ....................................................................... 4-22
3-4 Changing the origin position and adjusting the machine reference ................4-23
3-4-1 Sensor method ........................................................................................... 4-24
3-4-1-1 R6YXH250, R6YXH350, R6YXH400 ................................................. 4-24
3-4-2 Mark method ............................................................................................. 4-32
3-4-3 Stroke end method ..................................................................................... 4-33
3-4-3-1 R6YXH250, R6YXH350, R6YXH400, R6YXX1200 ......................... 4-33
4 Setting the Soft Limits .....................................................................4-37
5 Setting the Standard Coordinates .....................................................4-40
6 Afxing Stickers for Origin Positions,
Movement Directions and Axis Names ............................................4-41
7 Removing the Robot Covers ............................................................4-43
8 Adjusting the Timing Belt Tension ..................................................4-46
8-1 Adjusting the belt tension (R6YXH250, R6YXH350, R6YXH400) ............ 4-47
8-2 Adjusting the belt tension (R6YXX1200) .................................................. 4-49