Omron R6YXGL250 User manual

ZX-T Series
Cat. No. I155E-EN-03A
R6Y - XG series
INSTALLATION MANUAL
SCARA Robots
XG Series

General Contents
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 Warning label messages on robot and controller ……………………………………………………… S-3
3.1.2 Supplied warning labels ………………………………………………………………………………… S-6
3.2 Warning symbols …………………………………………………………………………… S-7
4. Major precautions for each stage of use S-8
4.1 Precautions for using robots and controllers …………………………………………… S-8
4.2 Design ……………………………………………………………………………………… S-9
4.2.1 Precautions for robots …………………………………………………………………………………… S-9
4.2.2 Precautions for robot controllers………………………………………………………………………… S-9
4.3 Moving and installation ………………………………………………………………… S-10
4.3.1 Precautions for robots ………………………………………………………………………………… S-10
4.3.2 Precautions for robot controllers……………………………………………………………………… S-11
4.4 Safety measures ………………………………………………………………………… S-13
4.4.1 Safety measures ……………………………………………………………………………………… S-13
4.4.2 Installing a safety enclosure ………………………………………………………………………… S-14
4.5 Operation ………………………………………………………………………………… S-15
4.5.1 Trial operation………………………………………………………………………………………… S-15
4.5.2 Automatic operation ………………………………………………………………………………… S-17
4.5.3 Precautions during operation ………………………………………………………………………… S-17
4.6 Inspection and maintenance …………………………………………………………… S-19
4.6.1 Before inspection and maintenance work …………………………………………………………… S-19
4.6.2 Precautions during service work ……………………………………………………………………… S-20
4.7 Disposal ………………………………………………………………………………… S-21
5. Emergency action when a person is caught by robot S-22
 6. Cautionsregardingstrongmagneticelds S-22
7. Using the robot safely S-23
7.1 Movement range ………………………………………………………………………… S-23
7.2 Robot protective functions ……………………………………………………………… S-24
7.3 Residual risk …………………………………………………………………………… S-25
7.4 Special training for industrial robot operation ……………………………………… S-25
Warranty 1

Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction v
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement …………………………………………………………………… 1-1
1.2 Part names ………………………………………………………………………………… 1-2
2. Robot controller 1-6
3. Robot initialization number list 1-7
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Installation environments ………………………………………………………………… 2-1
1.2 Installation base …………………………………………………………………………… 2-2
2. Installation 2-3
2.1 Unpacking ………………………………………………………………………………… 2-3
2.2 Checking the product ……………………………………………………………………… 2-5
2.3 Moving the robot ………………………………………………………………………… 2-15
2.3.1 Moving the R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500 and R6YXGL600 ……………2-15
2.3.2 Moving the R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900 and R6YXG1000 …2-16
2.3.3 Moving the R6YXGS300 and R6YXGS400 ……………………………………………………………2-18
2.3.4 Moving the R6YXGS500 and R6YXGS600 ……………………………………………………………2-19
2.3.5 Moving the R6YXGS700, R6YXGS800, R6YXGS900 and R6YXGS1000 ……………………………2-24
2.4 Installing the robot ……………………………………………………………………… 2-29
3. Protective bonding 2-30
4. Robot cable connection 2-31
5. User wiring and user tubing 2-32

6. Attaching the end effector 2-35
6.1 R-axistolerablemomentofinertiaandaccelerationcoefcient……………………… 2-35
  …………………………………………2-36
  …………………………2-37
  …………………………2-38
  …………………………………………2-39
  …………………………………………2-40
 
 ………2-41
 ……………………………2-41
 ……………………………2-42
  …………………………………………2-42
6.1.10  …2-43
6.1.11  2-43
6.2 Equation for moment of inertia calculation …………………………………………… 2-44
6.3 Example of moment of inertia calculation …………………………………………… 2-47
6.4 Attaching the end effector ……………………………………………………………… 2-49
6.5 Gripping force of end effector ………………………………………………………… 2-52
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers 2-53
7.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 2-53
7.1.1 Installing the X-axis/Y-axis additional mechanical stoppers ……………………………………………2-55
7.1.2 Robot overrun during impacts with X-axis or Y-axis mechanical stopper ………………………………2-57
7.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
………… 2-58
7.2.1 Changing the X-axis mechanical stopper position ………………………………………………………2-62
7.2.2 Changing the Y-axis mechanical stopper position ………………………………………………………2-64
7.2.3 Robot overrun during impacts with X-axis or Y-axis mechanical stopper ………………………………2-67
8. Limiting the movement range with Z-axis mechanical stopper 2-68
8.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ………… 2-68
8.1.1 Installing the minus direction stopper……………………………………………………………………2-69
8.1.2 Installing the plus direction stopper ……………………………………………………………………2-71
8.1.3 Overrun amounts during impacts with Z-axis additional mechanical stopper ………………………… 2-72
8.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
………… 2-73
8.2.1 Installing the minus direction stopper……………………………………………………………………2-75
8.2.2 Installing the plus direction stopper ……………………………………………………………………2-77
8.2.3 Overrun amounts during impacts with Z-axis additional mechanical stopper …………………………2-78

9. Working envelope and mechanical stopper positions for maximum working envelope 2-79
10. Stopping time and stopping distance at emergency stop 2-82
10.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 … 2-82
10.2 R6YXG500, R6YXG600, R6YXGS500, R6YXGS600 ………………………………… 2-88
10.3 R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 …………………………… 2-93
11. Installing the user wiring and tubing newly 2-102
12. Passing the wiring and tubing in the user wiring/tubing through spline type 2-103
13. Detaching or attaching the covers 2-104
14.
Installing the extension shaft (for user wiring/tubing through spline type) 2-110
 15.Installingthetoolange 2-112
16. Permissible spline load 2-113
Chapter 3 Robot settings
1. Overview 3-1
2. Adjusting the origin 3-2
2.1 Absolute reset method……………………………………………………………………… 3-2
  …………………………………………………………… 3-2
 ……………………………………………………………………………… 3-3
2.2 Machine reference ………………………………………………………………………… 3-3
2.3 Absolute reset procedures ………………………………………………………………… 3-5
  …………………………………… 3-5
  …………………………………………………… 3-6
  ……………………………………… 3-8
  ……………………………………………………… 3-9
2.4 Changing the origin position and adjusting the machine reference ………………… 3-11
2.4.1 Sensor method  …3-11
2.4.2 Sensor method

  ……………3-19
2.5 Adjusting the machine reference value of the stroke end method (Z-axis) ………… 3-30
2.5.1 Stroke end method  3-30
2.5.2 Stroke end method 
  ……………3-32

3. Setting the soft limits 3-35
3.1 Setting the X-axis and Y-axis soft limits ……………………………………………… 3-35
3.2 Setting the Z-axis soft limits …………………………………………………………… 3-36
3.3 Setting the R-axis soft limit …………………………………………………………… 3-36
3.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses …………………………… 3-36
4. Setting the standard coordinates 3-37
4.1 Standard coordinate setting using a standard coordinate setup jig ………………… 3-38
4.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600, R6YXGS300, R6YXGS400 ……3-38
4.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS500, R6YXGS600, R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 …………………3-39
5. Afxingthestickersfororiginpositions,movementdirections,andaxisnames 3-42
Chapter 4 Periodic inspection
1. Overview 4-1
2. List of inspection items 4-2
Chapter 5 Harmonic drive replacement period
1. Overview 5-1
2. Replacement period 5-2
Chapter 6 Increasing the robot operating speed
1. Increasing the robot operating speed 6-1
1.1 Increasing speed by arch motion ………………………………………………………… 6-1
1.2 Increasing the speed with the WEIGHT statement ……………………………………… 6-3
1.3 Increasing the speed by the tolerance parameter………………………………………… 6-4
1.4 Increasing the speed by the OUT effective position parameter ………………………… 6-5
Chapter 7 Torque limit designated Z-axis pushing action
1. Torque limit designated Z-axis pushing action 7-1

Chapter8 Specications
1. Manipulator 8-1
1.1 Basicspecication ………………………………………………………………………… 8-1
1.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600 …………………………… 8-1
1.1.2 R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 …… 8-3
1.1.3 R6YXGS300, R6YXGS400, R6YXGS500, R6YXGS600, R6YXGS700,
R6YXGS800, R6YXGS900, R6YXGS1000 …………………………………………………………… 8-5
1.2 External view and dimensions …………………………………………………………… 8-7
1.2.1 R6YXGL250 …………………………………………………………………………………………… 8-7
1.2.2 R6YXGL350 ……………………………………………………………………………………………8-11
1.2.3 R6YXGL400 ……………………………………………………………………………………………8-15
1.2.4 R6YXGL500 ……………………………………………………………………………………………8-19
1.2.5 R6YXGL600 ……………………………………………………………………………………………8-23
1.2.6 R6YXG500 ………………………………………………………………………………………………8-27
1.2.7 R6YXG600 ………………………………………………………………………………………………8-29
1.2.8 R6YXGH600 ……………………………………………………………………………………………8-31
1.2.9 R6YXG700 ………………………………………………………………………………………………8-33
1.2.10 R6YXG800 ………………………………………………………………………………………………8-35
1.2.11 R6YXG900 ………………………………………………………………………………………………8-37
1.2.12 R6YXG1000 ……………………………………………………………………………………………8-39
  ……………………………………………………………………8-41
  ……………………………………………………………8-44
  ……………………………………………………………………8-47
  ……………………………………………………………8-50
  ……………………………………………………………………8-53
  ……………………………………………………………8-55
  ……………………………………………………………………8-57
  ……………………………………………………………8-59
  ……………………………………………………………………8-61
  ……………………………………………………………8-63
  ……………………………………………………………………8-65
  ……………………………………………………………8-67
  ……………………………………………………………………8-69
  ……………………………………………………………8-71
  …………………………………………………………………8-73
  …………………………………………………………8-75
1.3 Robot inner wiring diagram …………………………………………………………… 8-77
1.4 Wiring table ……………………………………………………………………………… 8-78

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 Warning label messages on robot and controller S-3
3.1.2 Supplied warning labels S-6
3.2 Warning symbols S-7
4. Major precautions for each stage of use S-8
4.1 Precautions for using robots and controllers S-8
4.2 Design S-9
4.2.1 Precautions for robots S-9
4.2.2 Precautions for robot controllers S-9
4.3 Moving and installation S-10
4.3.1 Precautions for robots S-10
4.3.2 Precautions for robot controllers S-11
4.4 Safety measures S-13
4.4.1 Safety measures S-13
4.4.2 Installing a safety enclosure S-14
4.5 Operation S-15
4.5.1 Trial operation S-15
4.5.2 Automatic operation S-17
4.5.3 Precautions during operation S-17
4.6 Inspection and maintenance S-19
4.6.1 Before inspection and maintenance work S-19
4.6.2 Precautions during service work S-20
4.7 Disposal S-21
5. Emergency action when a person is caught by robot S-22
6. Cautions regarding strong magnetic fields S-22
7. Using the robot safely S-23
7.1 Movement range S-23
7.2 Robot protective functions S-24
7.3 Residual risk S-25
7.4 Special training for industrial robot operation S-25
Safety Instructions

Safety Instructions
S-1
1. Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing
various manipulative tasks. To ensure safe and correct use of OMRON industrial robots and controllers, carefully read
and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary
safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause

Before using this product, read this manual and related manuals and take safety precautions to ensure correct handling.
The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that includes
OMRON robots, please take appropriate safety measures as required by the user’s individual system.
To use OMRON robots and controllers safely and correctly, always comply with the safety rules and instructions:
  
instructions.
 
 
these languages, do not permit them to handle the robot.
 
 
 
 
 
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
observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand
the meaning of each symbol and signal word and then read this manual.
DANGER


WARNING


CAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or damage to the
equipment.
NOTE


Safety Instructions
S-3
3. Warning labels
Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To
ensure correct use, read the warning labels and comply with the instructions.
3.1 Warning labels
WARNING


 
 
  
 
3.1.1 Warning label messages on robot and controller
Word messages on the danger, warning and caution labels are concise and brief instructions. For more specific
instructions, read and follow the "Instructions on this label" described on the right of each label shown below.
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
1. Warning label 1 (SCARA robots)
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.
 
can enter inside except from the door or gate equipped
with an interlock device.
 
be affixed to an easy-to-see location on the door or gate of
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 (SCARA robots)
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 

Safety Instructions
S-4
3. Warning label 3 (SCARA robots)
WARNING



Instructions on this label
 
carefully to make you completely understand the contents
before attempting installation and operation of the robot.
 
read through this manual, read again the corresponding
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 Before installing or operating the robot, read the manual and instructions on the warning
labels and understand the contents.
4. Warning label 4 (SCARA robots)
CAUTION
Do not remove the parts on which Warning label 4 is attached.
Doing so may damage the ball screw.
Instructions on this label
The Z-axis ball screw will be damaged if the upper end
mechanical stopper on the Z-axis spline is removed or
moved. Never attempt to remove or move it.
5. Warning label 5 (Controller)
WARNING



Instructions on this label
 
 
the ground terminal located inside the cover.
Potential hazard to human body 
To avoid hazard Ground the controller.

Safety Instructions
S-5
6. "Read instruction manual" label (Controller)*
* This label is attached to the front panel.
CAUTION
Refer to the manual.
取扱説明書参照
READ INSTRUCTION
MANUAL
Instructions on this label
This indicates important information that you must know and
is described in the manual.
Before using the controller, be sure to read the manual
thoroughly.
When adding external safety circuits or connecting a power
supply to the controller, read the manual carefully and make
checks before beginning the work.
Connectors have an orientation. Insert each connector in the
correct direction.

Safety Instructions
S-6
3.1.2 Supplied warning labels
Some warning labels are not affixed to robots but included in the packing box. These warning labels should be
affixed to an easy-to-see location.
Warning label is attached to the robot body.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety
enclosure.
Warning label comes supplied with the robot and should be affixed to an easy-to-see location.
SCARA
robots
Warning label
1
*1
Warning label
2*1
Warning label
3*1
*1: See "Part names" in each SCARA robot manual for label positions.

Safety Instructions
S-7
3.2 Warning symbols
Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To
use the OMRON robot safely and correctly always follow the instructions and cautions indicated by the symbols.
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.
Motors, heatsinks, and regenerative units become hot during
and shortly after operation. To avoid burns be careful not to
touch those sections.
3. Caution symbol
CAUTION
Always read the manual carefully before using the controller.
!
Instructions by this symbol
This indicates important information that you must know and
is described in the manual.
Before using the controller, be sure to read the manual
thoroughly.
When adding external safety circuits or connecting a power
supply to the controller, read the manual carefully and make
checks before beginning the work.
Connectors must be attached while facing a certain direction,
so insert each connector in the correct direction.

Safety Instructions
S-8
4. Major precautions for each stage of use
This section describes major precautions that must be observed when using robots and controllers. 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 and controllers
General precautions for using robots and controllers are described below.
1. Applications where robots cannot be used
OMRON robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following
applications.
DANGER


 
 
 
 
2. Qualification of operators/workers
Operators or persons who handle the robot such as for teaching, programming, movement check, inspection, adjustment, and
repair 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.

performed by qualified persons who meet requirements established by local regulations and standards for industrial robots.
WARNING
  
 
  
  
 
  
 

Safety Instructions
S-9
4.2 Design
4.2.1 Precautions for robots
1. Restricting the robot moving speed
WARNING



2. Restricting the movement range
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
WARNING



CAUTION

damaged.
3. Provide safety measures for end effector (gripper, etc.)
WARNING
  
  
FLUCTUATIONS OCCUR.
   
  
 
4. Provide adequate lighting
Provide enough lighting to ensure safety during work.
5. Install an operation status light
WARNING


4.2.2 Precautions for robot controllers
1. Emergency stop input terminal
DANGER



2. Maintain clearance
CAUTION
Do not bundle control lines or communication cables together or in close to the main power supply or power lines. Usually separate
these by at least 100mm. Failure to follow this instruction may cause malfunction due to noise.

Safety Instructions
S-10
4.3 Moving and installation
4.3.1 Precautions for robots
■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


As instructed in Warning label 2, use caution to prevent hands or fingers from being pinched or crushed by movable parts when
transporting or moving the robot. For details on warning labels, see "3. Warning labels" in "Safety instructions."
2. Take safety measures when moving the robot
To ensure safety when moving a SCARA robot with an arm length of 500mm or more, use the eyebolts that come supplied with
the robot.
Refer to the Robot Manual for details.
■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.
■Wiring
1. Protective measures against electrical shock
WARNING
