Omron R6Y3 Series User manual
ZX-T Series
Cat. No. I194E-EN-02
Delta Robot
INSTALLATION
MANUAL
Washdown Delta Robot
R6Y3 Series
CONTENTS R6Y3
Installation Manual
T- 1
Safety Instructions
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Contents of warning label messages S-3
3.1.2 Supplied warning label S-4
3.2 Warning symbols S-4
4. Major precautions for each stage of use S-5
4.1 Precautions for using robots S-5
4.2 Design S-5
4.3 Moving and installation S-6
4.4 Safety measures S-8
4.4.1 Safety measures S-8
4.4.2 Installing a safety enclosure S-9
4.5 Operation S-10
4.5.1 Trial operation S-10
4.5.2 Automatic operation S-10
4.5.3 Precautions during operation S-10
4.6 Inspection and maintenance S-11
4.6.1 Before inspection and maintenance work S-11
4.6.2 Precautions during service work S-12
4.7 Disposal S-12
5. Emergency action when a person is caught by robot S-13
6. Using the robot safely S-14
6.1 Robot protective functions S-14
6.2 Residual risk S-14
6.3 Special training for industrial robot operation S-14
Warranty
Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction ii
CONTENTS R6Y3
Installation Manual
T- 2
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement 1-1
1.2 Part names 1-2
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Installation environments 2-1
1.2 Installation base 2-2
2. Installation 2-5
2.1 Unpacking 2-5
2.2 Checking the product 2-5
2.3 Moving the robot 2-6
2.3.1 Installing on base prepared by user 2-6
2.3.2 Moving the robot to another installation base or removing the robot 2-7
2.4 Installing the robot 2-9
3. Protective bonding 2-11
4. Connection 2-12
4.1 Robot cable connection 2-12
4.2 Wiring the brake release cable connector 2-12
5. User tubing 2-15
6. Attaching the end effector 2-16
6.2 Equation for moment of inertia calculation 2-17
6.4 Attaching the end effector 2-22
7. Working envelope and maximum movement range 2-23
8. Detaching or attaching the covers 2-24
CONTENTS R6Y3
Installation Manual
T- 3
9. Detaching or attaching the shafts, moveable base, and spring covers 2-36
10.Drop detection cable option 2-42
10.2 Connecting the detection cable connector 2-43
10.3 Wiring the detection cable connector 2-46
Chapter 3 Robot settings
1. Overview 3-1
1.1 Kinematics 3-1
2. Adjusting the origin 3-3
3. Setting the soft limits 3-9
Chapter 4 Periodic inspection
1. Overview 4-1
2. List of inspection items 4-2
Chapter 5 Specications
1. Manipulator 5-1
1.3 Robot inner wiring diagram 5-4
Contents
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Contents of warning label messages S-3
3.1.2 Supplied warning label S-4
3.2 Warning symbols S-4
4. Major precautions for each stage of use S-5
4.1 Precautions for using robots S-5
4.2 Design S-5
4.3 Moving and installation S-6
4.4 Safety measures S-8
4.4.1 Safety measures S-8
4.4.2 Installing a safety enclosure S-9
4.5 Operation S-10
4.5.1 Trial operation S-10
4.5.2 Automatic operation S-10
4.5.3 Precautions during operation S-10
4.6 Inspection and maintenance S-11
4.6.1 Before inspection and maintenance work S-11
4.6.2 Precautions during service work S-12
4.7 Disposal S-12
5. Emergency action when a person is caught by robot S-13
6. Using the robot safely S-14
6.1 Robot protective functions S-14
6.2 Residual risk S-14
6.3 Special training for industrial robot operation S-14
Safety Instructions
Safety Instructions
S-1
1. Safety Information
precautions stated in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling
refer to the Controller Manual.
The precautions listed in this manual relate to this product. To ensure the safety of the user’s final system that includes
instructions.
It is not possible to list all safety items in detail within the limited space of this manual. So please note that it is
essential that the user have a full knowledge of safety and also make correct judgments on safety procedures.
Safety Instructions
S-2
2. Signal words used in this manual
This manual uses the following safety alert symbols and signal words to provide safety instructions that must be
the meaning of each symbol and signal word and then read this manual.
DANGER
WARNING
CAUTION
equipment.
NOTE
Safety Instructions
S-3
3. Warning labels
instructions.
3.1 Warning labels
WARNING
3.1.1 Contents of warning label messages
1. Warning label 1
DANGER
Instructions on this label
from the robot movement range and prevent injury from
contacting the moving part of the robot.
Install an interlock that triggers emergency stop when the
door or gate of the safety enclosure is opened.
with an interlock device.
the safety enclosure.
Potential hazard to human body Serious injury may result from contact with a moving robot.
To avoid hazard
2. Warning label 2
WARNING
Instructions on this label
Use caution to prevent hands and fingers from being pinched
or crushed by the movable parts of the robot when
transporting or moving the robot or during teaching.
Potential hazard to human body Moving parts can pinch or crush hands.
To avoid hazard Keep hands away from the movable parts of the robot.
Safety Instructions
S-4
3. Warning label 3
WARNING
Instructions on this label
carefully to make you completely understand the contents
before attempting installation and operation of the robot.
procedures and "Safety instructions" in this manual.
manner that does not comply with the instructions in this
manual.
Potential hazard to human body Improper installation or operation may cause serious injury.
To avoid hazard
labels and understand the contents.
3.1.2 Supplied warning label
CAUTION
safety enclosure.
3.2 Warning symbols
Warning symbols shown below are attached to the robot body to alert the operator to potential hazards. To use the
1. Electrical shock hazard symbol
WARNING
Instructions by this symbol
This indicates a high voltage is present.
Touching the terminal block or connector may cause
electrical shock.
2. High temperature hazard symbol
WARNING
Instructions by this symbol
This indicates the area around this symbol may become very
hot.
and shortly after operation. To avoid burns be careful not to
touch those sections.
Safety Instructions
S-5
4. Major precautions for each stage of use
This section describes major precautions that must be observed when using robots. Be sure to carefully read and
comply with all of these precautions even if there is no alert symbol shown.
4.1 Precautions for using robots
1. Applications where robots cannot be used
DANGER
2. Qualification of operators/workers
must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must read the manual
carefully to understand its contents before attempting the robot operation or maintenance.
by qualified persons who meet requirements established by local regulations and standards for industrial robots.
WARNING
4.2 Design
1. Restricting the movement range
WARNING
2. Provide safety measures for end effector (gripper, etc.)
WARNING
3. Provide adequate lighting
Provide enough lighting to ensure safety during work.
Safety Instructions
S-6
4. Install an operation status light
WARNING
4.3 Moving and installation
■Installation environment
1. Do not use in strong magnetic fields
WARNING
2. Do not use in locations subject to possible electromagnetic interference, etc.
WARNING
3. Do not use in locations exposed to flammable gases
WARNING
■Moving
1. Use caution to prevent pinching or crushing of hands or fingers
WARNING
2. Take safety measures when moving the robot
Refer to the "2.3 Moving the robot" in Chapter 2 for details.
3. Take measures to prevent the robot from falling
move the robot at higher than the required height.
Make sure that there are no persons on paths used for moving the robot.
WARNING
Safety Instructions
S-7
■Installation
1. Protect electrical wiring and hydraulic/pneumatic hoses
Install a cover or similar item to protect the electrical wiring and hydraulic/pneumatic hoses from possible damage.
2. Cautions on arm
■Adjustment
1. Adjustment that requires removing a cover
WARNING
■Wiring
1. Robot cable
2. Wiring safety points
WARNING
CAUTION
damage the internal PC board.
3. Precautions for cable routing and installation
CAUTION
cable contact will cause the controller or robot to malfunction.
cause malfunction or electrical shock.
4. Protective measures against electrical shock
WARNING
Safety Instructions
S-8
4.4 Safety measures
4.4.1 Safety measures
1. Referring to warning labels and manual
WARNING
NOTE
2. Draw up "work instructions" and make the operators/workers understand them
WARNING
Decide on "work instructions" for the following items in cases where personnel must work within the robot safety enclosure to
1. Robot operating procedures needed for tasks such as startup procedures and handling switches
2. Robot speeds used during tasks such as teaching
3. Methods for workers to signal each other when two or more workers perform tasks
4. Steps that the worker should take when a problem or emergency occurs
the problem or error state and safety checks in order to restart the robot.
Specify a position and posture where worker can constantly check robot movements and immediately move to avoid
trouble if an error/problem occurs
3. Take safety measures
DANGER
Safety Instructions
S-9
WARNING
4. Install brake release circuit
WARNING
5. Install system
than the robot itself. So the system manufacturer should install the necessary safety measures required for the individual system.
WARNING
6. Do not modify
WARNING
4.4.2 Installing a safety enclosure
Be sure to install a safety enclosure to keep anyone from entering within the movement range of the robot. The safety
enclosure will prevent the operator and other persons from coming in contact with moving parts of the robot and
suffering injury.
DANGER
WARNING
Safety Instructions
S-10
4.5 Operation
safety measures and checks to ensure safe operation.
DANGER
4.5.1 Trial operation
controller manual and perform the trial operation while strictly observing the instructions.
4.5.2 Automatic operation
4.5.3 Precautions during operation
1. When the robot is damaged or an abnormal condition occurs
WARNING
DISTRIBUTOR.
DISTRIBUTOR.
Damage or abnormal condition Type of danger
Damage to machine harness or robot cable
Damaged parts fly off during robot operation
Robot malfunction
Shaft or movable base falling or related part fly off
2. High temperature hazard
WARNING
3. Use caution when releasing the α-axis, β-axis or γ-axis brake
WARNING
α, βγ
α, βγ
Safety Instructions
S-11
4. If the α-axis, β-axis, γ-axis or θ-axis rotation angle is small
CAUTION
4.6 Inspection and maintenance
Always perform daily and periodic inspections and make a pre-operation check to ensure there are no problems with
necessary.
Keep a record of periodic inspections or repairs and store this record for at least 3 years.
4.6.1 Before inspection and maintenance work
1. Do not attempt any work or operation unless described in this manual.
WARNING
2. Precautions during repair and parts replacement
WARNING
These tasks must be performed only by persons who have enough ability and qualifications required by local laws and regulations.
WARNING
3. Shut off all phases of power supply
WARNING
4. Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop)
WARNING
Safety Instructions
S-12
4.6.2 Precautions during service work
1. Precautions when removing a motor
WARNING
α, βγ
α, βγ
BASE.
4.7 Disposal
1. Disposal of packing boxes and materials
This manual suits for next models
3
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