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 Specications
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
