Omron R6Y Series - CHAPTER 3 Installation

CHAPTER 3
Installation
1 Robot Installation Conditions ............................................................3-1
1-1 Installation environments ..............................................................................3-1
1-2 Installation base ............................................................................................3-3
2 Installation ..........................................................................................3-5
2-1 Unpacking ..................................................................................................... 3-5
2-2 Checking the product ....................................................................................3-6
2-3 Moving the robot...........................................................................................3-7
2-3-1 Moving the R6YXH250, R6YXH350, R6YXH400 ................................... 3-7
2-3-2 Moving the R6YXX1200 ............................................................................ 3-8
2-4 Installing the robot ...................................................................................... 3-11
3 Protective Bonding ...........................................................................3-12
4 Robot Cable Connection ..................................................................3-14
5 User Wiring and User Tubing ..........................................................3-16
6 Attaching The End Effector .............................................................3-20
6-1 R-axis tolerable moment of inertia and acceleration coefcient ................ 3-20
6-1-1 Acceleration coefcient vs. moment of inertia (R6YXH250) .................. 3-22
6-1-2 Acceleration coefcient vs. moment of inertia (R6YXH350) .................. 3-23
6-1-3 Acceleration coefcient vs. moment of inertia (R6YXH400) .................. 3-24
6-1-4 Acceleration coefcient vs. moment of inertia (R6YXX1200) ................ 3-25
6-2 Equation for moment of inertia calculation ................................................ 3-28
6-3 Example of moment of inertia calculation ..................................................3-31
6-4 Attaching the end effector ........................................................................... 3-33
6-5 Gripping force of end effector ....................................................................3-37
7 Limiting the Movement Range with X-Axis Mechanical Stoppers
(R6YXX1200) ..................................................................................3-38
7-1 R6YXX1200 ............................................................................................... 3-39
8 Limiting the Movement Range with X-, Y- and Z-Axis
Mechanical Stoppers
(R6YXH250, R6YXH350, R6YXH400) ...............................................3-41
8-1 Installing the X-, Y- and Z-axis additional mechanical stoppers ................ 3-41
8-2 Installing the X- and Y-axis additional mechanical stoppers ...................... 3-44