Omron SCARA R6Y XE Series User manual

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CONTENTS XE series
Installation Manual
T- 1
Warranty
Chapter 1 Introduction
1. Introduction 1-1
1.1 Available manuals 1-1
1.2 Signal symbols 1-2
2. Before using the robot (Be sure to read the following notes.) 1-3
Chapter 2 Functions
1. Robot manipulator 2-1
1.1 Manipulator movement 2-1
1.2 Part names 2-2
2. Robot controller 2-3
3. Robot initialization number list 2-4
Chapter 3 Installation
1. Robot installation conditions 3-1
1.1 Installation environments 3-1
1.2 Installation base 3-2
2. Installation 3-3
2.1 Unpacking 3-3
2.2 Checking the product 3-4
2.3 Moving the robot R6YXE400 3-5
2.4 Moving the robot R6YXE610 R6YXE710 3-6
2.5 Installing the robot 3-8
3. Protective bonding 3-9
4. Robot cable connection 3-10
5. User wiring and user tubing 3-11
6. Attaching the end effector 3-14
6.1 Setting the parameters 3-14
6.1.1 Setting the parameters according to the load 3-14

CONTENTS XE series
Installation Manual
T- 2
6.1.2 Relevant parameters 3-14
6.1.3 Confirmation after setting the parameters 3-15
6.2 Acceleration coefficient vs. moment of inertia 3-16
6.2.1 R-axis tolerable moment of inertia and acceleration coefficient 3-16
6.2.2 Parameter setting according to R-axis moment of inertial of load 3-16
6.3 Equation for moment of inertia calculation 3-17
6.4 Example of moment of inertia calculation 3-20
6.5 Attaching the end effector 3-22
6.6 Gripping force of end effector 3-24
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers 3-25
7.1 Installing the X-axis/Y-axis additional mechanical stoppers R6YXE400 3-27
7.2 Installing the X-axis/Y-axis additional mechanical stoppers R6YXE610 R6YXE710 3-28
8. Robot overrun during impacts with X-axis or Y-axis mechanical stopper 3-30
9. Limiting the movement range with Z-axis mechanical stopper R6YXE610 R6YXE710 3-31
9.1 Installing the minus direction stopper 3-33
9.2 Installing the plus direction stopper 3-35
10. Overrun amounts during impacts with Z-axis additional mechanical stopper 3-36
11. Working envelope 3-37
11.1 Working envelope 3-37
11.2 Performance area 3-39
12. Stopping time and stopping distance at emergency stop R6YXE400 3-40
13. Stopping time and stopping distance at emergency stop R6YXE610 3-43
14. Stopping time and stopping distance at emergency stop R6YXE710 3-45
15. Installing the user wiring and tubing newly 3-47
16. Detaching or attaching the covers 3-48
17. Extension Shaft Mounting ( for user wiring/tubing through spline type ) 3-50
18. Tool flange mounting R6YXE610 R6YXE710 3-51
19. Permissible spline load 3-53

CONTENTS XE series
Installation Manual
T- 3
Chapter 4 Robot settings
1. Overview 4-1
2. Adjusting the origin 4-2
2.1 Return-to-origin method 4-2
2.1.1 Stroke end method R6YXE400 4-3
2.1.2 Mark method R6YXE400 4-4
2.1.3 Sensor method (X-axis, Y-axis) 4-4
2.2 Machine reference 4-5
2.3 Return-to-origin procedures 4-6
2.3.1 Stroke end method R6YXE400 4-6
2.3.2 Sensor method (X-axis, Y-axis) 4-7
2.4 Adjusting the machine reference value 4-9
2.4.1 Stroke end method R6YXE400 4-9
2.4.2 Mark method R6YXE400 4-13
2.4.3 Sensor method (X-axis, Y-axis) 4-23
3. Changing the origin position of X/Y-axis R6YXE610 R6YXE710
4-27
4. Setting the soft limits 4-30
4.1 Setting the X-axis and Y-axis soft limits 4-30
4.2 Setting the Z-axis soft limits 4-31
4.3 Setting the R-axis soft limits 4-31
4.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses 4-31
5. Setting the standard coordinates 4-32
5.1 Standard coordinate setting using a standard coordinate setup jig R6YXE400 4-33
5.2 Standard coordinate setting using a standard coordinate setup jig R6YXE610 R6YXE710 4-34
6. Affixing the stickers for origin positions, movement directions, and axis names 4-37
Chapter 5 Periodic inspection
1. Overview 5-1
2. List of inspection items 5-2

CONTENTS XE series
Installation Manual
T- 4
Chapter 6 Harmonic drive replacement period
1. Overview 6-1
2. Replacement period 6-2
Chapter 7 Increasing the robot operating speed
1. Increasing the robot operating speed 7-1
1.1 Increasing speed by arch motion 7-1
1.2 Increasing the speed with the WEIGHT statement 7-3
1.3 Increasing the speed by the tolerance parameter 7-4
1.4 Increasing the speed by the OUT effective position parameter 7-5
Chapter 8 Torque limit designated Z-axis pushing action
1. Torque limit designated Z-axis pushing action 8-1
Chapter 9 Specifications
1. Manipulator 9-1
1.1 Basic specification 9-1
1.2 Regarding the noise level 9-1
1.3 External view and dimensions 9-2
1.4 Robot inner wiring diagram 9-8
1.5 Wiring table 9-10

Warranty
Warranty
The OMRON robot and/or related product you have purchased are warranted against the defects or
malfunctions as described below.
■Warranty description
If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this
OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary
replacement/ repair parts.
■Warranty period
The warranty period ends 24 months after the date of manufacturing as shown on the products.
■Exceptions to the warranty
This warranty will not apply in the following cases:
1. Fatigue arising due to the passage of time, natural wear and tear occurring during operation (natural fading of painted
or planted surfaces, deterioration of parts subject to wear, etc.)
2. minor natural phenomena that do not affect the capabilities of the robot and/or related product (noise from computers,
motors, etc.)
3. Programs, point data and other internal data were changed or created by the user.
Failures resulting from the following causes are not covered by warranty.
1. Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or man-made disaster.
2. Troubles caused by procedures prohibited in this manual.
3. Modifications to the robot and/or related product not approved by OMRON or OMRON sales representative.
4. Use of any other than genuine parts and specified grease and lubricant.
5. Incorrect or inadequate maintenance and inspection.
6. Repairs by other than authorized dealers.
■WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one
year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER
ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET
THE REQUERIMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
■LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS
OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WETHER SUCH CLAIM IS BASED ON
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is
asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR OR OTHER CLAIMS REGARDING THE
PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED,
INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE OR INAPPROPIATE
MODIFICATION OR REPAIR.

Contents
1. Introduction 1-1
1.1 Available manuals 1-1
1.2 Signal symbols 1-2
2. Before using the robot (Be sure to read the following notes.) 1-3
Chapter 1 Introduction

1-1
1
Introduction
1. Introduction
The OMRON XE series robots are SCARA type industrial robots developed based on years of OMRON
experience and achievements in the automation field as well as efforts to streamline our in-house
manufacturing systems.
The XE series robots have a two-joint manipulator consisting of an X-axis arm and a Y-axis arm, and are
further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator. The
XE series robots can be used for a wide range of assembly applications such as installation and insertion of
various parts, application of sealant, and packing operations.
1.1 Available manuals
The following manuals can be download from the OMRON website:
Safety instructions
Describes safe and correct operating method for controller and robot.
Installation manual (this manual)
Describes how to install and connect the robot.
Maintenance manual
Describes the maintenance procedures for the robot.
TIP
Manuals are available by downloading from our website:
https://industrial.omron.eu/en/products/x-series#downloads
This user's manual describes the safety measures, handling, adjustment and maintenance of XE series robots
for correct, safe and effective use. Be sure to read this manual carefully before installing the robot.
For details about actual robot operation and programming, refer to the "OMRON Robot Controller User's
Manual".
WARNING
The adjustment and maintenance work with the cover removed needs the special knowledge and skill.
If unskilled work person performs such work, this may involve risk.Read "2. Qualification of operators/workers" in
section 4.1 of the Safety Instructions and allow only qualified engineers to perform this work while referring to the
separate Maintenance Manual.
• Place a conspicuous sign indicating the robot is being adjusted, to prevent others from touching the controller
switch, programming box (PBEX) or operation panel.
• If a safety enclosure has not yet been provided right after installation of the robot, rope off or chain off the
movement range around the manipulator in place of a safety enclosure, and observe the following points.
1. Use stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a conspicuous sign prohibiting the operator or other personnel from entering the movement range of
the manipulator.
• To check the operation after setting, refer to “4.6.1 Trial run” in the chapter “Safety precautions” in the separate
Safety Manual.
CAUTION
Use only the lubricants specified by your distributor .
"Harmonic" and "Harmonic drive" are the registered trademarks of Harmonic Drive Systems Inc.

1-2
1
Introduction
1.2 Signal symbols
The following safety alert symbols and signal words are used to provide safety instructions that must be
observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure to
understand the meaning of each symbol and signal word and then read this manual.
DANGER
This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
This indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or
damage to the equipment.
NOTE
This indicates a supplementary explanation in the operation.

1-3
1
Introduction
2. Before using the robot (Be sure to read the following notes.)
At this time, our thanks for your purchase of this OMRON XE series SCARA robot.
NOTE
In the YRCX controller, axis names are called using numeric values, like axis-1, axis-2, axis-3, and so on. In this
manual, axis names are called using alphabetic characters, like X-axis, Y-axis, Z-axis, and so on. So, read this
manual while referring to the robot external view and axis name correspondence table shown below.
External view of robot and axis name correspondence table
X-axis arm
(arm -1)
Y-axis arm
(arm -2)
R-axis
(axis -4)
Z-axis
(axis -3)
X-axis
(axis -1)
Y-axis
(axis -2)
Y-axis
(axis -2)
(-)
(+)
(+)
(+)(-)
(+)
(-)
(+)
(-)
23002-FV-00
YRCX controller axis name Axis name in this manual
Axis 1 X-axis
Axis 2 Y-axis
Axis 3 Z-axis
Axis 4 R-axis

1-4
1
Introduction
1. Please be sure to perform the following tasks before using the robot.
Failing to perform the tasks below will require re-teaching of the robot since the origin position cannot be set to the same
previous position. Robot malfunctions (vibration, noise) may also occur.
The origin position of the XE series robots is adjusted to the position as shown below, so the reference or standard
coordinates are temporarily set. The customer should set the origin position before any other job. There are 2 types of
origin position settings as shown below.
[1]Setting the origin position adjusted at the factory prior to shipment as the origin position (When setting the
origin position with the robot arm extended, you must check that there will not be any interference from any
peripheral equipment during the next return-to-origin.)
[2]Setting a position OTHER than the origin position adjusted at the factory prior to shipment as the origin position
129°±3° 147°±3°
Default origin position
Sensor type
Standard type
23313-FV-00
[1]To set the origin position adjusted at the factory prior to shipment as the origin position
Return-to-origin
The XE series robots only require the return-to-origin to be performed once when the robot is introduced. Once the
return-to-origin is performed, you do not need to reperform it when the power is turned on next time. Set the origin
position while referring to return-to-origin methods in "2. Adjusting the origin" in Chapter 3 of this manual and in
"Return-to-origin" of the "OMRON Robot Controller User's Manual". Setting of standard coordinates is not required in
the above case. To set the standard coordinates with high accuracy, refer to "4. Setting the standard coordinates" in
Chapter 3 of this manual and "Setting the Standard Coordinates" in the "OMRON Robot Controller User's Manual". If
the standard coordinate settings are incorrect, robot malfunctions (vibration, excessive noise) may occur.
CAUTION
Never enter the robot movement range once the robot servo is turned on as this is extremely hazardous.
[2]To set a position OTHER than the origin position adjusted at the factory prior to shipment as the origin position
1.Return-to-origin
The XE series robots only require the return-to-origin to be performed once when the robot is introduced. Once the
return-to-origin is performed, you do not need to reperform it when the power is turned on next time. Set the origin
position while referring to return-to-origin methods in "2. Adjusting the origin" in Chapter 3 of this manual and in
"Return-to-origin" of the "OMRON Robot Controller User's Manual". Set the origin position with the return-to-origin.
CAUTION
Never enter the robot movement range once the robot servo is turned on as this is extremely hazardous.
2.Affixing the origin position sticker
Set in emergency stop when return-to-origin is complete, and immediately affix the origin point sticker according to
instructions in "5. Affixing stickers for origin positions, movement directions and axis names" in Chapter 3 of this manual.

1-5
1
Introduction
3.Setting the standard coordinates
Set the standard coordinates while referring to instructions in "4. Setting the standard coordinates" in Chapter 3 of
this manual and also to "Setting the Standard coordinates" in the "OMRON Robot Controller User's Manual". Robot
malfunctions (vibration, noise) may occur if the standard coordinates are not set correctly.
Even though there is no problem with the robot, the error messages are issued when the robot and controller are
connected and power first turned on. (Actual error messages may differ according to how the robot and controller are
connected.)
Example of error messages issued when robot & controller are connected Example
17.410: ABS. battery error
17.411: ABS. encoder error
17.412: ABS. count error
17.413: ABS. overflow error
17.414: ABS. mixing error 1
etc.
2. Repetitive positioning accuracy
Accuracies under the following conditions are not guaranteed in "Repetitive positioning accuracy".
[1] Factors related to absolute accuracy
• If the accuracy between the coordinate positions (command positions) inside the robot controller and the real
space positions (moving positions) is required.
[2] Motion pattern factors
• If a motion approaching to the teaching point from a different direction is included during repetitive operation.
• If the power is turned off or the robot is stopped before completing the motion or the moving speed is changed
even when approaching to the teaching point from the same direction.
• If the robot is moved to the teaching point using a hand system different from the hand system (right-handed or
left-handed system) used for the teaching.
[3] Temperature factors
• If the ambient temperature environment changes significantly.
• If the temperature of the robot main body changes.
[4] Load variation factors
•
If load conditions vary during operation (the load varies depending on whether or not the workpiece is present, etc.).
3. If the X-axis, Y-axis or R-axis rotation angle is small.
If the X-axis, Y-axis or R-axis rotation angle is smaller than 5° so that it moves in almost the same position, an oil film is
difficult to be formed on the joint support bearing, possibly leading to damage to the bearing. In this type of operation,
add a movement so that the joint moves through 90° or more, about 5 times a day.
4. Do not remove the Z-axis upper-end mechanical stopper
Removing or moving the upper-end mechanical stopper attached to the Z-axis spline can damage the Z-axis ball screw.
Never remove or move it.

Chapter 2 Functions
Contents
1. Robot manipulator 2-1
1.1 Manipulator movement 2-1
1.2 Part names 2-2
2. Robot controller 2-3
3. Robot initialization number list 2-4

2
Functions
2-1
1. Robot manipulator
1.1 Manipulator movement
The XE series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a
Z/R-axis (equivalent to human wrist). With these 4 axes, the XE series robots can move as shown in the Fig.
below. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks can be
performed with high precision at high speeds. The (+) and (-) signs show the direction of axis movement when
the jog keys on the programming box are pressed (standard setting at the factory).
Manipulator movement
X-axis arm
(arm -1)
Y-axis arm
(arm -2)
R-axis
(axis -4)
Z-axis
(axis -3)
X-axis
(axis -1)
Y-axis
(axis -2)
Y-axis
(axis -2)
(-)
(+)
(+)
(+)
(-)
(-)
(+)
(-)
(+)
(-)
23101-FV-00

2
Functions
2-2
1.2 Part names
Part names
User wiring connector
(Numbers 1 to 10 are usable.)
User tubing 3 (φ4 blue)
User tubing 2 (φ4 red)
User tubing 1 (φ4 black)
User wiring
connector
(Numbers 1 to 10
are usable.)
Y-axis motor
Y-axis speed
reduction gear
7
1
3
4 4
6
5
5
2
Tapped hole for user
Standard type
X-axis motor
Machine harness
R-axis motor
Z-axis motor
Ball screw
X-axis mechanical stopper
Z-axis spline
Y-axis mechanical
stopper
Y-axis arm
X-axis arm
X-axis speed
reduction gear
User wiring
connector
(Numbers 1 to 10
are usable.)
User tubing 1 (φ4 black)
User tubing 2 (φ4 red)
User tubing 3 (φ4 blue)
M4 ground terminal
23102-FV-01
* OMRON Part Nos.
PARTS NAME PARTS NO. QTY
1LABEL,SERIAL NUMBER 90K43-000100 1
2LABEL,DANGER 90K41-001470 1
3LABEL,WARNING 90K41-001460 1
4LABEL,WARNING 90K41-001290 1
5LABEL,CAUTION 90K41-001630 2
6LABEL,SERIAL NUMBER 90K43-200770 1
7LABEL,ALERT 90K41-001490 1