Omron SCARA R6Y-XC 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 R6YXCH250, R6YXCH350, R6YXCH400 ........................... 3-7
2-3-2
Moving the R6YXC500, R6YXC600, R6YXC700, R6YXC800, R6YXC1000 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 (R6YXCH250) ................ 3-22
6-1-2 Acceleration coefcient vs. moment of inertia (R6YXCH350) ................ 3-23
6-1-3 Acceleration coefcient vs. moment of inertia (R6YXCH400) ................ 3-24
6-1-4 Acceleration coefcient vs. moment of inertia (R6YXC500)................... 3-25
6-1-5 Acceleration coefcient vs. moment of inertia (R6YXC600)................... 3-28
6-1-6 Acceleration coefcient vs. moment of inertia (R6YXC700)................... 3-31
6-1-7 Acceleration coefcient vs. moment of inertia (R6YXC800)................... 3-36
6-1-8 Acceleration coefcient vs. moment of inertia (R6YXC1000)................. 3-41
6-2 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 Range with X-Axis Mechanical Stoppers
(Excluding R6YXCH250, R6YXCH350, R6YXCH400) ...............3-52
8 Working Envelope and Mechanical Stopper Positions for
Maximum Working Envelope ..........................................................3-55