Omron SCARA XE Series User manual

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CONTENTS XE series
Maintenance Manual
T- 1
Warranty
Chapter 1 Introduction
1. Introduction 1-1
1.1 Available manuals 1-1
1.2 Signal symbols 1-1
2. Before using the robot (Be sure to read the following notes.) 1-3
Chapter 2 Attaching, detaching, and replacing the cover
1. Attaching, detaching, and replacing the cover 2-1
Chapter 3 Periodic inspection
1. Overview 3-1
2. Daily inspection 3-2
3. Six-month inspection 3-3
4. Applying the grease 3-6
4.1 Applying the grease to the spline shaft 3-6
4.2 Applying the grease to the ball screw 3-7
Chapter 4 Adjusting the origin
1. Adjusting the machine reference value 4-1
1.1 Stroke end method 4-1
1.1.1 Changing the X-axis reference value R6YXE400 4-2
1.1.2 Changing the Y-axis reference value R6YXE400 4-2
1.1.3 Changing the Z-axis and R-axis reference values 4-3
1.2 Sensor method (X-axis, Y-axis) 4-6
1.2.1 Adjusting the X-axis machine reference 4-6
1.2.2 Adjusting the Y-axis machine reference 4-8
1.3 Mark method R6YXE400 4-10
1.3.1 Absolute reset in servo on state (re-reset) 4-10
1.3.2 Absolute reset in servo off state (re-reset) 4-12
1.3.3 Absolute reset in servo on state (new reset) 4-15
1.3.4 Absolute reset in servo off state (new reset) 4-17

CONTENTS XE series
Maintenance Manual
T- 2
Chapter 5 Replacing the harmonic drive
1. Cautions on replacement of the harmonic drive 5-1
2. Replacement procedure for harmonic drive R6YXE400 5-2
2.1 Replacing the X-axis harmonic drive 5-2
2.1.1 Preparation 5-2
2.1.2 Removal 5-3
2.1.3 Replacement and reassembly 5-6
2.1.4 Aging 5-10
2.2 Replacing the Y-axis harmonic drive 5-11
2.2.1 Preparation 5-11
2.2.2 Removal 5-12
2.2.3 Replacement and reassembly 5-14
2.2.4 Aging 5-19
3. Replacement procedure for harmonic drive R6YXE610 R6YXE710 5-20
3.1 Replacing the X-axis harmonic drive 5-20
3.1.1 Preparation 5-20
3.1.2 Removal 5-21
3.1.3 Replacement and reassembly 5-24
3.1.4 Aging 5-29
3.2 Replacing the Y-axis harmonic drive 5-30
3.2.1 Preparation 5-30
3.2.2 Removal 5-31
3.2.3 Replacement and reassembly 5-34
3.2.4 Aging 5-39
Chapter 6 Replacing the machine harness
1. Replacing the machine harness R6YXE400 6-1
1.1 Removal 6-2
1.2 Assembly 6-5
2. Replacing the machine harness R6YXE610 R6YXE710 6-6
2.1 Removal 6-6
2.2 Assembly 6-10
Chapter 7 Motor replacement
1. Motor replacement 7-1
1.1 X-axis motor replacement 7-1
1.2 Y-axis motor replacement 7-2

CONTENTS XE series
Maintenance Manual
T- 3
Chapter 8 Replacing the Z-axis drive unit
1. Replacing the Z-axis drive unit R6YXE400 8-1
1.1 Replacing the Z-axis motor 8-2
1.2 Replacing the Z-axis belt 8-3
1.3 Replacing the Z-axis ball screw 8-4
1.4 Replacing the Z-axis brake 8-5
2. Replacing the Z-axis drive unit R6YXE610 R6YXE710 8-7
2.1 Replacing the Z-axis motor 8-8
2.2 Replacing the Z-axis belt 8-9
2.3 Replacing the Z-axis ball screw 8-10
2.4 Replacing the Z-axis brake 8-11
Chapter 9 Replacing the R-axis drive unit
1. Replacing the R-axis drive unit R6YXE400 9 -1
1.1 Replacing the R-axis motor 9-1
1.2 Replacing the R-axis belt 9-3
1.3 Replacing the R-axis ball spline 9-4
2. Replacing the R-axis drive unit R6YXE610 R6YXE710 9-5
2.1 Replacing the R-axis motor 9-6
2.2 Replacing the R-axis belt 9-8
2.3 Replacing the R-axis ball spline 9-9
Chapter 10 Robot cable replacement
1. Robot cable replacement 10-1
Chapter 11 Maintenance parts
1. Consumable parts 11-1
2. Basic specification 11-2

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 1-1
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
Describes how to install and connect the robot.
Maintenance manual (this 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

Chapter 2 Attaching, detaching, and replacing the cover
Contents
1. Attaching, detaching, and replacing the cover 2-1

2
Attaching, detaching, and replacing the cover
2-1
1. Attaching, detaching, and replacing the cover
To attach, detach, or replace the covers, remove the bolts and screws shown in the Fig. below.
WARNING
• When the covers have been removed for the maintenance work, be sure to return the covers to their original
positions using the screws and bolts that have secured them.
• If any screw or bolt is lost, be sure to secure the covers with the specified number of specified screws and bolts
while referring to the Fig. below.
• If the covers are not secured firmly, noise may occur, the cover may drop and fly out, your hand may be
entangled in the drive unit during teaching, or your hand may be in contact the hot drive unit, causing burn.
To prevent such troubles, strictly observe this caution.
R6YXE400
Base rear cover mounting bolt
Hex socket head bolt M4×8, 4 pcs.
(OMRON’s part No. 91312-04008)
Y-axis arm cover mounting bolt
Hex socket head bolt M3×20, 6 pcs.
(OMRON’s part No. 91312-03020)
Y-axis arm cover
(OMRON’s part No. KDS-M1314-10)
Harness cover
(OMRON’s part No. KDS-M1312-10)
Harness cover mounting bolt
Hex socket head bolt M4×10, 7 pcs.
(OMRON’s part No. KEP-M1372-00)
Washer
(OMRON’s part No. 92990-04600)
Binding head screw M4×8, 4 pcs.
(OMRON’s part No. 90990-10J003)
Base rear cover
(OMRON’s part No. KDS-M1310-10)
Base rear cover
(OMRON’s part No. KDS-M1310-10)
23217-FV-00

R6YXE610 / R6YXE710
Y-axis arm cover
(OMRON’s part No. KFS-M1314-00)
Harness cover mounting bolt
(OMRON’s part No. 91312-03010) M3x10 8 pcs.
Washer
(OMRON’s part No. 90990-28J204)
Harness cover
(OMRON’s part No.KDS-M1312-00)
Base rear cover mounting bolt 1
(OMRON’s part No. 91312-04006)
M4x6 2 pcs.
Base rear cover mounting bolt 1
(OMRON’s part No. 91312-04006)
M4x6 2 pcs.
Base rear cover
(OMRON’s part
No. KDS-M1310-00)
Base rear cover mounting bolt 2
(OMRON’s part No. 91312-04010) M4x10 2 pcs.
Binding screw M4x8 2 pcs.
(OMRON’s part No. 90990-10J003)
Y-axis arm cover mounting bolt
Hex socket head bolt.
(OMRON’s part No. 91312-03020)
M3x20 6 pcs(0.9Nm)
Washer
(OMRON’s part No. 92902-03600)
23218-FV-00

Chapter 3 Periodic inspection
Contents
1. Overview 3-1
2. Daily inspection 3-2
3. Six-month inspection 3-3
4. Applying the grease 3-6
4.1 Applying the grease to the spline shaft 3-6
4.2 Applying the grease to the ball screw 3-7