Omron XG Series User manual

ZX-T Series
Cat. No. I158E-EN-02A
R6Y - XGC/XGP series
INSTALLATION MANUAL
SCARA Robots
XG Series

CONTENTS XGC/XGP
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 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

CONTENTS XGC/XGP
Installation Manual
T- 2
Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction iii
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement 1-1
1.2 Part names 1-2
2. Robot initialization number list 1-4
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Sucking from the base rear side of the clean room model 2-1
1.2
Protection ratings for moisture and dust on dust/drip proof models 2-2
1.2.1 Plug 2-2
1.2.2 Air purge piping 2-3
1.2.3 Exhaust port 2-4
2. Installation 2-5
2.1 Checking the product 2-5
2.2 Moving the robot 2-9
2.2.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-9
2.2.2
R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-10
3. User wiring and user tubing 2-11
4. Limiting the movement range with X- and Y-axis mechanical stoppers 2-15
4.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-18
4.1.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-18
4.1.2
R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-20
5. Limiting the movement range with Z-axis mechanical stopper 2-21
6. Working envelope and mechanical stopper positions for maximum working envelope 2-21
7.
Installing the user wiring and tubing newly 2-22

CONTENTS XGC/XGP
Installation Manual
T- 3
8. Passing the user wiring and tubing through the spline 2-23
9. Detaching or attaching the covers 2-24
9.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-24
9.2 R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-29
10.Installingthetoolange 2-31
11.Permissible spline load 2-32
Chapter 3 Robot settings
1. Overview 3-1
2. Adjusting the origin 3-2
3. Standard coordinate setting using a standard coordinate setup jig 3-3
3.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 3-3
3.2 R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 3-4
Chapter 4 Periodic inspection
1. List of inspection items 4-1
Chapter 5 Harmonic drive replacement period
1. Overview 5-1
2. Replacement period 5-2
Chapter 6 Torque limit designated Z-axis pushing action
1. Torque limit designated Z-axis pushing action 6-1
Chapter7 Specications
1. Manipulator 7-1
1.1 Basicspecication 7-1
1.2 External view and dimensions 7-4
1.2.1 R6YXGLC(P)250 7-4
1.2.2 R6YXGLC(P)350 7-6
1.2.3 R6YXGLC(P)400 7-8
1.2.4 R6YXGLC(P)500 7-10
1.2.5 R6YXGLC(P)600 7-12

CONTENTS XGC/XGP
Installation Manual
T- 4
1.2.6 R6YXGP500 7-14
1.2.7 R6YXGP600 7-16
1.2.8 R6YXGHP600 7-18
1.2.9 R6YXGP700 7-20
1.2.10 R6YXGP800 7-22
1.2.11 R6YXGP900 7-24
1.2.12 R6YXGP1000 7-26

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
personal injury (to installation personnel, robot operator or service personnel) including fatal accidents.
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:
• For specific safety information and standards, refer to the applicable local regulations and comply with the
instructions.
• Warning labels attached to the robots are written in English, Japanese, Chinese and Korean. This manual is available
in English or Japanese (or some parts in Chinese). Unless the robot operators or service personnel understand
these languages, do not permit them to handle the robot.
• Cautions regarding the official language of EU countries:
For equipment that will be installed in EU countries, the language used for the manuals, warning labels,
operation screen characters, and CE declarations is English only.
Warning labels only have pictograms or else include warning messages in English. In the latter case, messages
in Japanese or other languages might be added.
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
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
Explains the key point in the operation in a simple and clear manner.

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
IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN THE NECESSARY PRECAUTIONS MAY NOT BE
TAKEN, RESULTING IN AN ACIDENT.
• DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT BODY.
• DO NOT ALLOW WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ON THE ROBOT BY THE USER.
• PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON THE WARNING LABELS CAN BE
CLEARLY SEEN FROM OUTSIDE THE SAFETY ENCLOSURE.
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
SERIOUS INJURY MAY RESULT FROM CONTACT WITH A MOVING ROBOT.
• KEEP OUTSIDE OF THE ROBOT SAFETY ENCLOSURE DURING OPERATION.
• PRESS THE EMERGENCY STOP BUTTON BEFORE ENTERING THE SAFETY ENCLOSURE.
Instructions on this label
• Always install a safety enclosure to keep all persons away
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.
• The safety enclosure should be designed so that no one
can enter inside except from the door or gate equipped
with an interlock device.
• Warning label 1 that comes supplied with a robot should
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 • Keep outside of the robot safety enclosure during operation.
• Press the emergency stop button before entering the safety enclosure.
2. Warning label 2 (SCARA robots)
WARNING
MOVING PARTS CAN PINCH OR CRUSH HANDS.
KEEP HANDS AWAY FROM THE MOVABLE PARTS OF THE ROBOT.
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 (SCARA robots)
WARNING
IMPROPER INSTALLATION OR OPERATION MAY CAUSE SERIOUS INJURY.
BEFORE INSTALLING OR OPERATING THE ROBOT, READ THE MANUAL AND INSTRUCTIONS ON THE WARNING
LABELS AND UNDERSTAND THE CONTENTS.
Instructions on this label
• Be sure to read the warning label and this manual
carefully to make you completely understand the contents
before attempting installation and operation of the robot.
• Before starting the robot operation, even after you have
read through this manual, read again the corresponding
procedures and "Safety instructions" in this manual.
• Never install, adjust, inspect or service the robot in any
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
GROUND THE CONTROLLER TO PREVENT ELECTRICAL SHOCK.
GROUND TERMINAL IS LOCATED INSIDE THIS COVER.
READ THE MANUAL FOR DETAILS.
Instructions on this label
• High voltage section inside
• To prevent electrical shock, always ground the robot using
the ground terminal located inside the cover.
Potential hazard to human body Electrical shock
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
TOUCHING THE TERMINAL BLOCK OR CONNECTOR MAY CAUSE ELECTRICAL SHOCK, SO USE CAUTION.
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
MOTORS, HEATSINKS, AND REGENERATIVE UNITS BECOME HOT, SO DO NOT TOUCH THEM.
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
OMRON ROBOT CONTROLLERS AND ROBOTS ARE DESIGNED AS GENERAL-PURPOSE INDUSTRIAL EQUIPMENT AND
CANNOT BE USED FOR THE FOLLOWING APPLICATIONS.
• IN MEDICAL EQUIPMENT SYSTEMS WHICH ARE CRITICAL TO HUMAN LIFE
• IN SYSTEMS THAT SIGNIFICANTLY AFFECT SOCIETY AND THE GENERAL PUBLIC
• IN EQUIPMENT INTENDED TO CARRY OR TRANSPORT PEOPLE
• IN ENVIRONMENTS WHICH ARE SUBJECT TO VIBRATION SUCH AS ONBOARD SHIPS AND VEHICLES.
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.
Tasks related to industrial robots (teaching, programming, movement check, inspection, adjustment, repair, etc.) must be
performed by qualified persons who meet requirements established by local regulations and standards for industrial robots.
WARNING
• THE ROBOT MUST BE OPERATED ONLY BY PERSONS WHO HAVE RECEIVED SAFETY AND OPERATION TRAINING.
OPERATION BY AN UNTRAINED PERSON IS EXTREMELY HAZARDOUS.
• ADJUSTMENT AND MAINTENANCE BY REMOVING A COVER REQUIRE SPECIALIZED TECHNICAL KNOWLEDGE
AND SKILLS, AND MAY ALSO INVOLVE HAZARDS IF ATTEMPTED BY AN UNSKILLED PERSON. THESE TASKS
MUST BE PERFORMED ONLY BY PERSONS WHO HAVE ENOUGH ABILITY AND QUALIFICATIONS IN ACCORDANCE
WITH LOCAL LAWS AND REGULATIONS. FOR DETAILED INFORMATION, PLEASE CONTACT YOUR DISTRIBUTOR
WHERE YOU PURCHASED THE PRODUCT.

Safety Instructions
S-9
4.2 Design
4.2.1 Precautions for robots
1. Restricting the robot moving speed
WARNING
RESTRICTION ON THE ROBOT MOVING SPEED IS NOT A SAFETY-RELATED FUNCTION.
TO REDUCE THE RISK OF COLLISION BETWEEN THE ROBOT AND WORKERS, THE USER MUST TAKE THE
NECESSARY PROTECTIVE MEASURES SUCH AS ENABLE DEVICES ACCORDING TO RISK ASSESSMENT BY THE USER.
2. Restricting the movement range
See “7.1 Movement range” in “Safety instructions” for details on the robot’s movement range.
WARNING
SOFT LIMIT FUNCTION IS NOT A SAFETY-RELATED FUNCTION INTENDED TO PROTECT THE HUMAN BODY.
TO RESTRICT THE ROBOT MOVEMENT RANGE TO PROTECT THE HUMAN BODY, USE THE MECHANICAL STOPPERS
INSTALLED IN THE ROBOT (OR AVAILABLE AS OPTIONS).
CAUTION
If the robot moving at high speed collides with a mechanical stopper installed in the robot (or available as option), the robot may be
damaged.
3. Provide safety measures for end effector (gripper, etc.)
WARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CAUSE NO HAZARDS (SUCH AS A
LOOSE WORKPIECE OR LOAD) EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR POWER
FLUCTUATIONS OCCUR.
• IF THE OBJECT GRIPPED BY THE END EFFECTOR MIGHT POSSIBLY FLY OFF OR DROP, THEN PROVIDE
APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE, WEIGHT, TEMPERATURE, AND
CHEMICAL PROPERTIES.
4. Provide adequate lighting
Provide enough lighting to ensure safety during work.
5. Install an operation status light
WARNING
INSTALL A SIGNAL LIGHT (SIGNAL TOWER) AT AN EASY-TO-SEE POSITION SO THAT THE OPERATOR WILL BE AWARE
OF THE ROBOT STOP STATUS (TEMPORARILY STOPPED, EMERGENCY STOP, ERROR STOP, ETC.).
4.2.2 Precautions for robot controllers
1. Emergency stop input terminal
DANGER
EACH ROBOT CONTROLLER HAS AN EMERGENCY STOP INPUT TERMINAL TO TRIGGER EMERGENCY STOP. USING
THIS TERMINAL, INSTALL A SAFETY CIRCUIT SO THAT THE SYSTEM INCLUDING THE ROBOT CONTROLLER WILL
WORK SAFELY.
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
DO NOT USE THE ROBOT NEAR EQUIPMENT OR IN LOCATIONS THAT GENERATE STRONG MAGNETIC FIELDS. THE
ROBOT MAY BREAK DOWN OR MALFUNCTION IF USED IN SUCH LOCATIONS.
2. Do not use in locations subject to possible electromagnetic interference, etc.
WARNING
DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE, ELECTROSTATIC
DISCHARGE OR RADIO FREQUENCY INTERFERENCE. THE ROBOT MAY MALFUNCTION IF USED IN SUCH LOCATIONS
CREATING HAZARDOUS SITUATIONS.
3. Do not use in locations exposed to flammable gases
WARNING
• OMRON ROBOTS ARE NOT DESIGNED TO BE EXPLOSION-PROOF.
• DO NOT USE THE ROBOTS IN LOCATIONS EXPOSED TO EXPLOSIVE OR INFLAMMABLE GASES, DUST PARTICLES
OR LIQUID. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY OR
DEATH, OR LEAD TO FIRE.
■Moving
1. Use caution to prevent pinching or crushing of hands or fingers
WARNING
MOVING PARTS CAN PINCH OR CRUSH HANDS OR FINGERS.
KEEP HANDS AWAY FROM THE MOVABLE PARTS OF THE ROBOT.
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
ALWAYS GROUND THE ROBOT TO PREVENT ELECTRICAL SHOCK.

Safety Instructions
S-11
■Adjustment
1. Adjustment that requires removing a cover
WARNING
ADJUSTMENT BY REMOVING A COVER REQUIRE SPECIALIZED TECHNICAL KNOWLEDGE AND SKILLS, AND MAY
ALSO INVOLVE HAZARDS IF ATEMPTED BY AN UNSKILLED PERSON. THESE TASKS MUST BE PERFORMED ONLY BY
PERSONS WHO HAVE ENOUGH ABILITY AND QUALIFICATIONS IN ACORDANCE WITH LOCAL LAWS AND
REGULATIONS. FOR DETAILED INFORMATION, PLEASE CONTACT YOUR DISTRIBUTOR WHERE YOU PURCHASED
THE PRODUCT.
4.3.2 Precautions for robot controllers
■Installation environment
1. Installation environment
WARNING
OMRON ROBOTS ARE NOT DESIGNED TO BE EXPLOSION-PROOF. DO NOT USE THE ROBOTS AND CONTROLLERS IN
LOCATIONS EXPOSED TO EXPLOSIVE OR INFLAMMABLE GASES, DUST PARTICLES OR LIQUID SUCH AS GASOLINE
AND SOLVENTS. FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE SERIOUS ACCIDENTS INVOLVING INJURY
OR DEATH, AND LEAD TO FIRE.
WARNING
• USE THE ROBOT CONTROLLER IN LOCATIONS THAT SUPPORT THE ENVIRONMENTAL CONDITIONS SPECIFIED IN
THIS MANUAL. OPERATION OUTSIDE THE SPECIFIED ENVIRONMENTAL RANGE MAY CAUSE ELECTRICAL SHOCK,
FIRE, MALFUNCTION OR PRODUCT DAMAGE OR DETERIORATION.
• THE ROBOT CONTROLLER AND PROGRAMMING BOX MUST BE INSTALLED AT A LOCATION THAT IS OUTSIDE THE
ROBOT SAFETY ENCLOSURE YET WHERE IT IS EASY TO OPERATE AND VIEW ROBOT MOVEMENT.
• INSTALL THE ROBOT CONTROLLER IN LOCATIONS WITH ENOUGH SPACE TO PERFORM WORK (TEACHING,
INSPECTION, ETC.) SAFELY. LIMITED SPACE NOT ONLY MAKES IT DIFFICULT TO PERFORM WORK BUT CAN ALSO
CAUSE INJURY.
• INSTALL THE ROBOT CONTROLLER IN A STABLE, LEVEL LOCATION AND SECURE IT FIRMLY. AVOID INSTALLING
THE CONTROLLER UPSIDE DOWN OR IN A TILTED POSITION.
• PROVIDE SUFFICIENT CLEARANCE AROUND THE ROBOT CONTROLLER FOR GOOD VENTILATION. INSUFFICIENT
CLEARANCE MAY CAUSE MALFUNCTION, BREAKDOWN OR FIRE.
■Installation
To install the robot controller, observe the installation conditions and method described in the manual.
1. Installation
WARNING
SECURELY TIGHTEN THE SCREWS FOR THE L-SHAPED BRACKETS USED TO INSTALL THE ROBOT CONTROLLER. IF
NOT SECURELY TIGHTENED, THE SCREWS MAY COME LOOSE CAUSING THE CONTROLLER TO DROP.
2. Connections
WARNING
• ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR
WIRING WORK. FAILURE TO DO THIS MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
• NEVER DIRECTLY TOUCH CONDUCTIVE SECTIONS AND ELECTRONIC PARTS OTHER THAN THE CONNECTORS,
ROTARY SWITCHES, AND DIP SWITCHES ON THE OUTSIDE PANEL OF THE ROBOT CONTROLLER. TOUCHING
THEM MAY CAUSE ELECTRICAL SHOCK OR BREAKDOWN.
• SECURELY INSTALL EACH CABLE CONNECTOR INTO THE RECEPTACLES OR SOCKETS. POOR CONNECTIONS MAY
CAUSE THE CONTROLLER OR ROBOT TO MALFUNCTION.

Safety Instructions
S-12
■Wiring
1. Connection to robot controller
The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and
controller combination, and connect them in the correct combination.
Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match
the motor type used in the robot connected to the controller.
2. Wiring safety points
WARNING
ALWAYS SHUT OFF ALL PHASES OF THE POWER SUPPLY EXTERNALLY BEFORE STARTING INSTALLATION OR
WIRING WORK. FAILURE TO DO THIS MAY CAUSE ELECTRICAL SHOCK OR PRODUCT DAMAGE.
CAUTION
• Makesurethatnoforeignmattersuchascuttingchipsorwirescrapsgetintotherobotcontroller.Malfunction,breakdownorre 
may result if these penetrate inside.
• Do not apply excessive impacts or loads to the connectors when making cable connections. This might bend the connector pins or
damage the internal PC board.
• Whenusingferritecoresfornoiseelimination,besuretotthemontothepowercableasclosetotherobotcontrollerand/orthe 
robot as possible, to prevent malfunction caused by noise.
3. Wiring method
WARNING
SECURELY INSTALL THE CONNECTORS INTO THE ROBOT CONTROLLER AND, WHEN WIRING THE CONNECTORS,
MAKE THE CRIMP, PRESS-CONTACT OR SOLDER CONNECTIONS CORRECTLY USING THE TOOL SPECIFIED BY THE
CONNECTOR MANUFACTURER.
CAUTION
When disconnecting the cable from the robot controller, detach by gripping the connector itself and not by tugging on the cable. Loosen
the screws on the connector (if fastened with the screws), and then disconnect the cable. Trying to detach by pulling on the cable itself
may damage the connector or cables, and poor cable contact will cause the controller or robot to malfunction.
4. Precautions for cable routing and installation
CAUTION
• Always store the cables connected to the robot controller in a conduit or clamp them securely in place. If the cables are not stored in
a conduit or properly clamped, excessive play or movement or mistakenly pulling on the cable may damage the connector or cables,
and poor cable contact will cause the controller or robot to malfunction.
• Do not modify the cables and do not place any heavy objects on them. Handle them carefully to avoid damage. Damaged cables may
cause malfunction or electrical shock.
• If the cables connected to the robot controller may possibly become damaged, then protect them with a cover, etc.
• Checkthatthecontrollinesandcommunicationcablesareroutedatagapsufcientlyawayfrommainpowersupplycircuitsand 
power lines, etc. Bundling them together with power lines or close to power lines may cause faulty operation due to noise.
5. Protective measures against electrical shock
WARNING
BE SURE TO GROUND THE CONTROLLER USING THE GROUND TERMINAL ON THE POWER TERMINAL BLOCK. POOR
GROUNDING MAY CAUSE ELECTRICAL SHOCK.