Download INSTALLATION MANUAL

Cat. No. I194E-EN-01A
Washdown Delta Robot
ZX-T Series
R6Y3
Series
Delta Robot
INSTALLATION
MANUAL
CONTENTS
R6Y3
Installation Manual
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
4. Major precautions for each stage of use
4.1
Precautions for using robots
S-4
S-5
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 1
Introduction
Before using the robot (Be sure to read the following notes.)
Introduction
i
ii
T-1
CONTENTS
Chapter 1
Functions
1. Robot manipulator
1.1
Manipulator movement
1.2 Part names
Chapter 2
Installation environments
1.2 Installation base
2. Installation
1-1
1-2
2-1
2-1
2-2
2-3
2.1 Unpacking
2-3
2.2 Checking the product
2-3
2.3 Moving the robot
2-4
2.3.1
Installing on base prepared by user
2-4
2.3.2
Moving the robot to another installation base or removing the robot
2-5
2.4 Installing the robot
2-7
3. Protective bonding
2-9
4. Connection
4.1
Robot cable connection
2-10
2-10
4.2 Wiring the brake release wire connector
2-10
4.3 θ-axisconnectionwiringspecifications(R6Y31110L03067NJ5,R6Y31110H03067NJ5)
2-11
5. User tubing
2-12
6. Attaching the end effector
2-13
6.1 θ-axistolerablemomentofinertiaandacceleration
6.1.1
θ-axismomentofinertiaofloadandaccelerationcoefficient
2-13
2-13
6.2 Equation for moment of inertia calculation
2-14
6.3 Exampleofmomentofinertiacalculation
2-17
6.4 Attaching the end effector
2-19
7. Working envelope and maximum movement range
2-20
8. Detaching or attaching the covers
2-21
8.1 Detachingorattachingtheα,βandγ-axescovers
T-2
1-1
Installation
1. Robot installation conditions
1.1
R6Y3
Installation Manual
2-21
8.1.1
α,β,γ-axiscoverremovalprocedure
2-22
8.1.2
α,βandγ-axiscoverattachmentprocedure
2-27
CONTENTS
9. Detaching or attaching the shafts, moveable base, and spring covers
9.1 Attachingtheshafts,moveablebase,andspringcovers
R6Y3
Installation Manual
2-33
2-33
9.1.1
R6Y30110S03067NJ5(3-axesspecification)
2-33
9.1.2
R6Y31110L03067NJ5,R6Y31110H03067NJ5(4-axesspecification)
2-35
9.2 Detachingtheshafts,moveablebase,andspringcover
Chapter 3
2-38
Robot settings
1. Overview
3-1
2. Adjusting the origin
3-2
2.1 Adjustingtheα,βandγ-axisoriginposition
3-3
2.2 Adjustingtheθ-axisoriginposition(4-axesspecificationonly)
3-6
3. Setting the soft limits
3-8
3.1 Settingtheα,βandγ-axissoftlimits
3-8
3.2 Settingtheθ-axissoftlimits
3-8
Chapter 4
Periodic inspection
1. Overview
4-1
2. List of inspection items
4-2
Chapter 5
Specifications
1. Manipulator
5-1
1.1 Basicspecification
5-1
1.2 Externalviewanddimensions
5-2
1.3 Robot inner wiring diagram
5-4
1.4
5-5
Kinematics parameters
T-3
Safety Instructions
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
3.1.2
Contents of warning label messages
Supplied warning label
S-3
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
4.4.2
Safety measures
Installing a safety enclosure
S-8
S-9
4.5
Operation
S-10
4.5.1
4.5.2
4.5.3
Trial operation
Automatic operation
Precautions during operation
S-10
S-10
S-10
4.6
Inspection and maintenance
S-11
4.6.1
4.6.2
Before inspection and maintenance work
Precautions during service work
S-11
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
1.
Safety Information
Thesafetyinstructionsandprecautionsdescribedinthe“SafetyInstructions”coveronlytherobot(mechanical
sections).Fordetailsaboutoperationofthecontrollerandsafetyprecautionsassociatedwiththecontrolleroperation,
refer to the Controller Manual.
Beforeusingthisproduct,readthismanualandrelatedmanualsandtakesafetyprecautionstoensurecorrecthandling.
The precautions listed in this manual relate to this product. To ensure the safety of the user’s final system that includes
robots,theusermusttakeappropriatesafetyconsiderations.
Touserobotssafelyandcorrectly,besuretostrictlyobservethesafetyrulesandinstructions.
• Forspecificsafetyinformationandstandards,refertotheapplicablelocalregulationsandcomplywiththe
instructions.
• WarninglabelsattachedtotherobotsarewritteninEnglish,Japanese,ChineseandKorean.Thismanualisavailable
inEnglishorJapanese(orsomepartsinChinese).Unlesstherobotoperatorsorservicepersonnelunderstand
theselanguages,donotpermitthemtohandletherobot.
•
CautionsregardingtheofficiallanguageofEUcountries.ForequipmentthatwillbeinstalledinEUcountries,the
languageusedforthemanuals,warninglabels,operationscreencharacters,andCEdeclarationsisEnglishonly.
WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase,messages
inJapaneseorotherlanguagesmightbeadded.
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.
S-1
Safety Instructions
Industrialrobotsarehighlyprogrammable,mechanicaldevicesthatprovidealargedegreeoffreedomwhenperforming
variousmanipulativetasks.Tooperatetherobotinsaferandcorrectmanner,strictlyobservethesafetyinstructionsand
precautions stated in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling
mayresultintroubleordamagetotherobot,andalsomaycausepersonalinjury(toinstallationpersonnel,robot
operatororservicepersonnel)includingfatalaccidents.
2.
Signal words used in this manual
Safety Instructions
This manual uses the following safety alert symbols and signal words to provide safety instructions that must be
observedandtodescribehandlingprecautions,prohibitedactions,andcompulsoryactions.Makesureyouunderstand
the meaning of each symbol and signal word and then read this manual.
DANGER
THISINDICATESANIMMEDIATELYHAzARDoUSSITUATIoNWHICH,IFNoTAvoIDED,WILLRESULTINDEATHoR
SERIoUSINJURY.
WARNING
THISINDICATESApoTENTIALLYHAzARDoUSSITUATIoNWHICH,IFNoTAvoIDED,CoULDRESULTINDEATHoR
SERIoUSINJURY.
CAUTION
Thisindicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultinminorormoderateinjury,ordamagetothe
equipment.
NOTE
Explainsthekeypointintheoperationinasimpleandclearmanner.
S-2
3.
Warning labels
Warninglabelsareattachedtotherobotbody.Toensurecorrectuse,readthewarninglabelsandcomplywiththe
instructions.
Warning labels
WARNING
IFWARNINgLABELSAREREMovEDoRDIFFICULTToSEE,THENTHENECESSARYpRECAUTIoNSMAYNoTBE
TAKEN,RESULTINgINANACIDENT.
• DoNoTREMovE,ALTERoRSTAINTHEWARNINgLABELSoNTHERoBoTBoDY.
• DoNoTALLoWWARNINgLABELSToBEHIDDENBYDEvICESINSTALLEDoNTHERoBoTBYTHEUSER.
• pRovIDEpRopERLIgHTINgSoTHATTHESYMBoLSANDINSTRUCTIoNSoNTHEWARNINgLABELSCANBE
CLEARLYSEENFRoMoUTSIDETHESAFETYENCLoSURE.
3.1.1
Contents of warning label messages
Wordmessagesonthedanger,warningandcautionlabelsareconciseandbriefinstructions.Formorespecific
instructions,readandfollowthe"Instructionsonthislabel"describedontherightofeachlabelshownbelow.
1. Warning label 1
DANGER
SERIoUSINJURYMAYRESULTFRoMCoNTACTWITHAMovINgRoBoT.
• KEEpoUTSIDEoFTHERoBoTSAFETYENCLoSUREDURINgopERATIoN.
• pRESSTHEEMERgENCYSTopBUTToNBEFoREENTERINgTHESAFETYENCLoSURE.
Instructions on this label
• Alwaysinstallasafetyenclosuretokeepallpersonsaway
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.
• Thesafetyenclosureshouldbedesignedsothatnoone
canenterinsideexceptfromthedoororgateequipped
with an interlock device.
• Warninglabel1thatcomessuppliedwitharobotshould
beaffixedtoaneasy-to-seelocationonthedoororgateof
the safety enclosure.
Potential hazard to human body
Serious injury may result from contact with a moving robot.
To avoid hazard
•Keepoutsideoftherobotsafetyenclosureduringoperation.
•presstheemergencystopbuttonbeforeenteringthesafetyenclosure.
2. Warning label 2
WARNING
MovINgpARTSCANpINCHoRCRUSHHANDS.
KEEpHANDSAWAYFRoMTHEMovABLEpARTSoFTHERoBoT.
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.
S-3
Safety Instructions
3.1
3. Warning label 3
Safety Instructions
WARNING
IMpRopERINSTALLATIoNoRopERATIoNMAYCAUSESERIoUSINJURY.
BEFoREINSTALLINgoRopERATINgTHERoBoT,READTHEMANUALANDINSTRUCTIoNSoNTHEWARNINg
LABELSANDUNDERSTANDTHECoNTENTS.
Instructions on this label
• Besuretoreadthewarninglabelandthismanual
carefully to make you completely understand the contents
before attempting installation and operation of the robot.
• Beforestartingtherobotoperation,evenafteryouhave
readthroughthismanual,readagainthecorresponding
procedures and "Safety instructions" in this manual.
• Neverinstall,adjust,inspectorservicetherobotinany
manner that does not comply with the instructions in this
manual.
3.1.2
Potential hazard to human body
Improper installation or operation may cause serious injury.
To avoid hazard
Beforeinstallingoroperatingtherobot,readthemanualandinstructionsonthewarning
labels and understand the contents.
Supplied warning label
CAUTION
Attachthewarninglabelthathasbeenincludedintherobotatshipmenttoalegiblelocationclosetotherobot,suchasentranceofthe
safety enclosure.
3.2
Warning symbols
Warning symbols shown below are attached to the robot body to alert the operator to potential hazards. To use the
oMRoNrobotsafelyandcorrectlyalwaysfollowtheinstructionsandcautionsindicatedbythesymbols.
1. Electrical shock hazard symbol
WARNING
ToUCHINgTHETERMINALBLoCKoRCoNNECToRMAYCAUSEELECTRICALSHoCK,SoUSECAUTIoN.
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,ANDREgENERATIvEUNITSBECoMEHoT,SoDoNoTToUCHTHEM.
Instructions by this symbol
This indicates the area around this symbol may become very
hot.
Motors,heatsinks,andregenerativeunitsbecomehotduring
and shortly after operation. To avoid burns be careful not to
touch those sections.
S-4
4.
Major precautions for each stage of use
This section describes major precautions that must be observed when using robots. Be sure to carefully read and
comply with all of these precautions even if there is no alert symbol shown.
Safety Instructions
4.1
Precautions for using robots
generalprecautionsforusingrobotsaredescribedbelow.
1. Applications where robots cannot be used
oMRoNrobotsaredesignedasgeneral-purposeindustrialequipmentandcannotbeusedfortheapplicationslistedbelow.
DANGER
RoBoTSAREDESIgNEDASgENERAL-pURpoSEINDUSTRIALEqUIpMENTANDCANNoTBEUSEDFoRTHE
FoLLoWINgAppLICATIoNS.
• INMEDICALEqUIpMENTSYSTEMSWHICHARECRITICALToHUMANLIFE
• INSYSTEMSTHATSIgNIFICANTLYAFFECTSoCIETYANDTHEgENERALpUBLIC
• INEqUIpMENTINTENDEDToCARRYoRTRANSpoRTpEopLE
• INENvIRoNMENTSWHICHARESUBJECTTovIBRATIoNSUCHASoNBoARDSHIpSANDvEHICLES.
2. Qualification of operators/workers
operatorsorpersonswhohandletherobotsuchasforteaching,programming,movementcheck,inspection,adjustment,andrepair
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.
Tasksrelatedtoindustrialrobots(teaching,programming,movementcheck,inspection,adjustment,repair,etc.)mustbeperformed
by qualified persons who meet requirements established by local regulations and standards for industrial robots.
WARNING
• THERoBoTMUSTBEopERATEDoNLYBYpERSoNSWHoHAvERECEIvEDSAFETYANDopERATIoNTRAININg. opERATIoNBYANUNTRAINEDpERSoNISExTREMELYHAzARDoUS.
• ADJUSTMENTANDMAINTENANCEBYREMovINgACovERREqUIRESpECIALIzEDTECHNICALKNoWLEDgE ANDSKILLS,ANDMAYALSoINvoLvEHAzARDSIFATTEMpTEDBYANUNSKILLEDpERSoN.THESETASKS
MUSTBEpERFoRMEDoNLYBYpERSoNSWHoHAvEENoUgHABILITYANDqUALIFICATIoNSINACCoRDANCE
WITHLoCALLAWSANDREgULATIoNS.FoRDETAILEDINFoRMATIoN,pLEASECoNTACTYoURDISTRIBUToR WHEREYoUpURCHASEDTHEpRoDUCT.
4.2
Design
1. Restricting the movement range
WARNING
SoFTLIMITFUNCTIoNISNoTASAFETY-RELATEDFUNCTIoNINTENDEDTopRoTECTTHEHUMANBoDY.
ENSURESAFETYBYINSTALLINgASAFETYENCLoSUREANDSooN.
2. Provide safety measures for end effector (gripper, etc.)
WARNING
• ENDEFFECToRSMUSTBEDESIgNEDANDMANUFACTUREDSoTHATTHEYCAUSENoHAzARDS(SUCHASA
LooSEWoRKpIECEoRLoAD)EvENIFpoWER(ELECTRICITY,AIRpRESSURE,ETC.)ISSHUToFFoRpoWER
FLUCTUATIoNSoCCUR.
• IFTHEoBJECTgRIppEDBYTHEENDEFFECToRMIgHTpoSSIBLYFLYoFFoRDRop,THENpRovIDE
AppRopRIATESAFETYpRoTECTIoNTAKINgINToACCoUNTTHEoBJECTSIzE,WEIgHT,TEMpERATURE,AND
CHEMICALpRopERTIES.
3. Provide adequate lighting
Provide enough lighting to ensure safety during work.
S-5
4. Install an operation status light
WARNING
INSTALLASIgNALLIgHT(SIgNALToWER)ATANEASY-To-SEEpoSITIoNSoTHATTHEopERAToRWILLBEAWARE
oFTHERoBoTSTopSTATUS(TEMpoRARILYSToppED,EMERgENCYSTop,ERRoRSTop,ETC.).
Safety Instructions
4.3
Moving and installation
■ Installation environment
1. Do not use in strong magnetic fields
WARNING
DoNoTUSETHERoBoTNEAREqUIpMENToRINLoCATIoNSTHATgENERATESTRoNgMAgNETICFIELDS.THE
RoBoTMAYBREAKDoWNoRMALFUNCTIoNIFUSEDINSUCHLoCATIoNS.
2. Do not use in locations subject to possible electromagnetic interference, etc.
WARNING
DoNoTUSETHERoBoTINLoCATIoNSSUBJECTToELECTRoMAgNETICINTERFERENCE,ELECTRoSTATIC
DISCHARgEoRRADIoFREqUENCYINTERFERENCE.THERoBoTMAYMALFUNCTIoNIFUSEDINSUCHLoCATIoNS
CREATINgHAzARDoUSSITUATIoNS.
3. Do not use in locations exposed to flammable gases
WARNING
• oMRoNRoBoTSARENoTDESIgNEDToBEExpLoSIoN-pRooF.
• DoNoTUSETHERoBoTSINLoCATIoNSExpoSEDToExpLoSIvEoRINFLAMMABLEgASES,DUSTpARTICLES oRLIqUID.FAILUREToFoLLoWTHISINSTRUCTIoNMAYCAUSESERIoUSACCIDENTSINvoLvINgINJURYoR DEATH,oRLEADToFIRE.
■ Moving
1. Use caution to prevent pinching or crushing of hands or fingers
WARNING
KEEpYoURHANDAWAYFRoMTHERoBoTINSTALLATIoNSURFACEDURINgMovINg.oTHERWISE,YoURHAND
ISENTANgLED,CAUSINgSERIoUSpERSoNALINJURY.
AsinstructedinWarninglabel2,usecautiontopreventhandsorfingersfrombeingpinchedorcrushedbymovablepartswhen
transportingormovingtherobot.Fordetailsonwarninglabels,see"3.Warninglabels"in"Safetyinstructions."
2. Take safety measures when moving the robot
ToensuresafetywhenmovingtheDELTArobot,usetheeyeboltsthatcomewiththerobot.
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.
2. Cautions on arm
Intheinstallationwork,donotholdthearmbyyourhandincaseofanemergency.
S-6
■ Adjustment
1. Adjustment that requires removing a cover
■ Wiring
1. Robot cable
Aftercheckingthespecifiedcombinationsoftherobotandcontroller,connecttherobotandcontroller.
2. Wiring safety points
WARNING
ALWAYSSHUToFFALLpHASESoFTHEpoWERSUppLYExTERNALLYBEFoRESTARTINgINSTALLATIoNoR
WIRINgWoRK.FAILUREToDoTHISMAYCAUSEELECTRICALSHoCKoRpRoDUCTDAMAgE.
CAUTION
• Donotapplyexcessiveimpactsorloadstotheconnectorswhenmakingcableconnections.Thismightbendtheconnectorpinsor damage the internal PC board.
• Whendisconnectingthecablefromtherobot,donotholdthecableandpullitoutbyhand.Loosenthescrewsontheconnector(if fastenedwiththescrews),andthendisconnectthecable.Tryingtodetachbypullingonthecableitselfmaydamagetheconnectoror
cables,andpoorcablecontactwillcausethecontrollerorrobottomalfunction.
3. Precautions for cable routing and installation
CAUTION
• Besuretostorethecablesconnectedtotherobotintheductorclampthemsecurelyinplace.Ifthecablesarenotstoredinaconduit
orproperlyclamped,excessiveplayormovementormistakenlypullingonthecablemaydamagetheconnectororcables,andpoor cable contact will cause the controller or robot to malfunction.
• Donotmodifythecablesanddonotplaceanyheavyobjectsonthem.Handlethemcarefullytoavoiddamage.Damagedcablesmay
cause malfunction or electrical shock.
• Ifthecablesconnectedtothecontrollermaypossiblybecomedamaged,protectthemwithanappropriatecover,etc.
• Checkthatthecontrollinesandcommunicationcablesareroutedatagapsufficientlyawayfrommainpowersupplycircuitsand powerlines,etc.Bundlingthemtogetherwithpowerlinesorclosetopowerlinesmaycausefaultyoperationduetonoise.
4. Protective measures against electrical shock
WARNING
BESURETogRoUNDTHECoNTRoLLERUSINgTHEgRoUNDTERMINALoNTHEpoWERTERMINALBLoCK.pooR
gRoUNDINgMAYCAUSEELECTRICALSHoCK.
S-7
Safety Instructions
WARNING
ADJUSTMENTBYREMovINgACovERREqUIRESpECIALIzEDTECHNICALKNoWLEDgEANDSKILLS,ANDMAY
ALSoINvoLvEHAzARDSIFATEMpTEDBYANUNSKILLEDpERSoN.THESETASKSMUSTBEpERFoRMEDoNLYBY
pERSoNSWHoHAvEENoUgHABILITYANDqUALIFICATIoNSINACoRDANCEWITHLoCALLAWSAND
REgULATIoNS.FoRDETAILEDINFoRMATIoN,pLEASECoNTACTYoURDISTRIBUToRWHEREYoUpURCHASED
THEpRoDUCT.
4.4
Safety measures
4.4.1
Safety measures
Safety Instructions
1. Referring to warning labels and manual
WARNING
• BEFoRESTARTINgINSTALLATIoNoRopERATIoNoFTHERoBoT,BESUREToREADTHEWARNINgLABELS
ANDTHISMANUAL,ANDCoMpLYWITHTHEINSTRUCTIoNS.
• NEvERATTEMpTANYREpAIR,pARTSREpLACEMENTANDMoDIFICATIoNUNLESSDESCRIBEDINTHISMANUAL.
THESETASKSREqUIRESpECIALIzEDTECHNICALKNoWLEDgEANDSKILLSANDMAYALSoINvoLvE HAzARDS.pLEASECoNTACTYoURDISTRIBUToRFoRADvICE.
NOTE
Fordetailsonwarninglabels,see"3.Warninglabels"in"Safetyinstructions."
2. Draw up "work instructions" and make the operators/workers understand them
WARNING
DECIDEoN"WoRKINSTRUCTIoNS"INCASESWHEREpERSoNNELMUSTWoRKWITHINTHERoBoTSAFETY
ENCLoSURETopERFoRMSTARTUpoRMAINTENANCEWoRK.MAKESURETHEWoRKERSCoMpLETELY
UNDERSTANDTHESE"WoRKINSTRUCTIoNS".
Decide on "work instructions" for the following items in cases where personnel must work within the robot safety enclosure to
performteaching,maintenanceorinspectiontasks.Makesuretheworkerscompletelyunderstandthese"workinstructions".
1. Robot operating procedures needed for tasks such as startup procedures and handling switches
2. Robot speeds used during tasks such as teaching
3. Methods for workers to signal each other when two or more workers perform tasks
4. Steps that the worker should take when a problem or emergency occurs
5.Stepstotakeaftertherobothascometoastopwhentheemergencystopdevicewastriggered,includingchecksforcancelling
the problem or error state and safety checks in order to restart the robot.
6.Incasesotherthanabove,thefollowingactionsshouldbetakenasneededtopreventhazardoussituationsduetosuddenor
unexpectedrobotoperationorfaultyrobotoperationaslistedbelow.
• placeadisplaysignontheoperatorpanel
• Ensurethesafetyofworkersperformingtaskswithintherobotsafetyenclosure
• Clearlyspecifypositionandpostureduringwork
Specify a position and posture where worker can constantly check robot movements and immediately move to avoid
trouble if an error/problem occurs
• Takenoisepreventionmeasures
• Usemethodsforsignalingoperatorsofrelatedequipment
• Usemethodstodecidethatanerrorhasoccurredandidentifythetypeoferror
Implementthe"workinstructions"accordingtothetypeofrobot,installationlocation,andtypeofworktask.
Whendrawingupthe"workinstructions",makeanefforttoincludeopinionsfromtheworkersinvolved,equipmentmanufacturer
technicians,andworkplacesafetyconsultants,etc.
3. Take safety measures
DANGER
• NEvERENTERTHERoBoTMovEMENTRANgEWHILETHERoBoTISopERATINgoRTHEMAINpoWERIS
TURNEDoN.FAILUREToFoLLoWTHISWARNINgMAYCAUSESERIoUSACCIDENTSINvoLvINgINJURYoR
DEATH.INSTALLASAFETYENCLoSUREoRAgATEINTERLoCKWITHANAREASENSoRToKEEpALLpERSoNS AWAYFRoMTHERoBoTMovEMENTRANgE.
• WHENITISNECESSARYToopERATETHERoBoTWHILEYoUAREWITHINTHERoBoTMovEMENTRANgE
SUCHASFoRTEACHINgoRMAINTENANCE/INSpECTIoNTASKS,BESUREToINSTALLANENABLEDEvICEIN THEExTERNALSAFETYCIRCUITSoTHATYoUCANIMMEDIATELYSTopTHERoBoTopERATIoNINCASEoFAN
ABNoRMALoRHAzARDoUSCoNDITIoN.ADDITIoNALLY,SETTHERoBoTMovINgSpEEDSoTHATIT
CoMpLIESWITHTHERoBoTSAFETYSTANDARDS.
S-8
4. Install brake release circuit
TheDELTArobotisequippedwithabrakereleaseswitchforthemanualteachingormaintenanceinspection.
Tousethisbrakereleaseswitch,itisalsonecessarytoinstallabrakereleasecircuitontheuserside.
Fordetails,see“4.2Wiringthebrakereleasewireconnector”inChapter2.
WARNING
WHENpERFoRMINgTHETEACHINgoRMAINTENANCEINSpECTIoNMANUALLY,INSTALLTHEBRAKERELEASE
CIRCUITToENSURETHESAFETY.
5. Install system
Whenconfiguringanautomatedsystemusingarobot,hazardoussituationsaremorelikelytooccurfromtheautomatedsystem
than the robot itself. So the system manufacturer should install the necessary safety measures required for the individual system.
Thesystemmanufacturershouldprovideapropermanualforsafe,correctoperationandservicingofthesystem.
WARNING
ToCHECKTHERoBoTCoNTRoLLERopERATINgSTATUS,REFERToTHERELATEDMANUALS.DESIgNAND
INSTALLTHESYSTEMINCLUDINgTHERoBoTCoNTRoLLERSoTHATITWILLALWAYSWoRKSAFELY.
6. Do not modify
WARNING
NEvERATTEMpTToMoDIFYTHERoBoT.DoNoTopENANYCovER.DoINgSoMAYCAUSEELECTRICALSHoCK,
BREAKDoWN,MALFUNCTIoN,INJURY,oRFIRE.
4.4.2
Installing a safety enclosure
Be sure to install a safety enclosure to keep anyone from entering within the movement range of the robot. The safety
enclosure will prevent the operator and other persons from coming in contact with moving parts of the robot and
suffering injury.
DANGER
SERIoUSINJURYMAYRESULTFRoMCoNTACTWITHAMovINgRoBoT.
•KEEpoUTSIDEoFTHERoBoTSAFETYENCLoSUREDURINgopERATIoN.
•pRESSTHEEMERgENCYSTopBUTToNBEFoREENTERINgTHESAFETYENCLoSURE.
WARNING
• INSTALLANINTERLoCKTHATTRIggERSEMERgENCYSTopWHENTHEDooRoRgATEoFTHESAFETY
ENCLoSUREISopENED.
• THESAFETYENCLoSURESHoULDBEDESIgNEDSoTHATNooNECANENTERINSIDEExCEpTFRoMTHEDooR
oRgATEEqUIppEDWITHANINTERLoCKDEvICE.
• WARNINgLABEL1(SEE"3.WARNINgLABELS"IN"SAFETYINSTRUCTIoNS")THATCoMESSUppLIEDWITHA
RoBoTSHoULDBEAFFIxEDToANEASY-To-SEELoCATIoNoNTHEDooRoRgATEoFTHESAFETY ENCLoSURE.
S-9
Safety Instructions
WARNING
• DURINgSTARTUpoRMAINTENANCETASKS,DISpLAYASIgNSTATINg"WoRKINpRogRESS"oNTHE opERATIoNpANELoRLoCKTHECovERoFTHEopERATIoNpANELINoRDERTopREvENTANYoNEoTHER
THANTHEpERSoNFoRTHATTASKFRoMMISTAKENLYopERATINgTHESTARToRSELECToRSWITCH.
• ALWAYSCoNNECTTHERoBoTANDRoBoTCoNTRoLLERINTHECoRRECTCoMBINATIoN.USINgTHEMINAN INCoRRECTCoMBINATIoNMAYCAUSEFIREoRBREAKDoWN.
4.5
Operation
Whenoperatingarobot,ignoringsafetymeasuresandchecksmayleadtoseriousaccidents.Alwaystakethefollowing
safety measures and checks to ensure safe operation.
Safety Instructions
DANGER
CHECKTHEFoLLoWINgpoINTSBEFoRESTARTINgRoBoTopERATIoN.
•NooNEISWITHINTHERoBoTSAFETYENCLoSURE.
•THERoBoTANDpERIpHERALEqUIpMENTAREINgooDCoNDITIoN.
4.5.1
Trial operation
Afterinstalling,adjusting,inspecting,maintaining,orrepairingtherobot,checkthetrialoperationitemsstatedinthe
controller manual and perform the trial operation while strictly observing the instructions.
4.5.2
Automatic operation
Toperformtheautomaticoperation,followtheinstructionsstatedinthecontrollermanual.
4.5.3
Precautions during operation
1. When the robot is damaged or an abnormal condition occurs
WARNING
• IFUNUSUALoDoRS,NoISEoRSMoKEoCCURDURINgopERATIoN,IMMEDIATELYTURNoFFpoWERTo
pREvENTpoSSIBLEELECTRICALSHoCK,FIREoRBREAKDoWN.STopUSINgTHERoBoTANDCoNTACTYoUR DISTRIBUTOR.
• IFANYoFTHEFoLLoWINgDAMAgEoRABNoRMALCoNDITIoNSoCCURSTHERoBoT,THENCoNTINUINgTo
opERATETHERoBoTISDANgERoUS.IMMEDIATELYSTopUSINgTHERoBoTANDCoNTACTYoUR DISTRIBUTOR.
Damage or abnormal condition
Damage to machine harness or robot cable
Type of danger
Electricalshock,robotmalfunction
Damagetorobotexterior
Damaged parts fly off during robot operation
Abnormalrobotoperation(positiondeviation,vibration,etc.)
Robot malfunction
α-axis,β-axisorγ-axisbrakemalfunction
Shaft or movable base falling or related part fly off
2. High temperature hazard
WARNING
• DoNoTToUCHTHERoBoTDURINgopERATIoN.THERoBoTBoDYISvERYHoTDURINgopERATIoN,So
BURNSMAYoCCURIFYoUToUCHTHESESECTIoNS.
• THEMoToRANDSpEEDREDUCTIoNgEARCASINgAREvERYHoTSHoRTLYAFTERopERATIoN,SoBURNSMAY
oCCURIFTHESEAREToUCHED.BEFoREToUCHINgTHoSEpARTSFoRINSpECTIoNSoRSERvICINg,TURNoFF THECoNTRoLLER,WAITFoRAWHILEANDCHECKTHATTHEIRTEMpERATUREHASCooLED.
3. Use caution when releasing the α-axis, β-axis or γ-axis brake
Toreleasethebrake,itisnecessarytoinstallabrakereleasecircuitontheuserside.
WARNING
THEα-AxIS, β-AxISoRγ-AxIS WILLSLIDEDoWNWARDWHENTHEBRAKEISRELEASED,CAUSINgAHAzARDoUS
SITUATIoN.TAKEADEqUATESAFETYMEASURESBYTAKINgTHEWEIgHTANDSHApEINToACCoUNT.
• BEFoRERELEASINgTHEBRAKEAFTERpRESSINgTHEEMERgENCYSTopBUTToN,pLACEASUppoRTUNDER THEα-AxIS, β-AxISoRγ-AxISSoTHATITWILLNoTSLIDEDoWN.
• WHENpERFoRMINgTASKS(DIRECTTEACHINg,ETC.)WITHTHEBRAKERELEASED,RELEASETHEBRAKEoF oNLYNECESSARYAxISANDBECAREFULNoTToLETYoURBoDYgETCAUgHTBETWEENTHEMovABLEBASE
ANDTHEINSTALLATIoNBASE.
S-10
4. If the α-axis, β-axis, γ-axis or θ-axis rotation angle is small
WARNING
IFTHEα-AxIS, β-AxIS,γ-AxISoRθ-AxIS RoTATIoNANgLEISSETSMALLERTHAN5DEgREES,THENITWILL
4.6
Inspection and maintenance
Always perform daily and periodic inspections and make a pre-operation check to ensure there are no problems with
therobotandrelatedequipment.Ifaproblemorabnormalityisfound,thenpromptlyrepairitortakeothermeasuresas
necessary.
Keep a record of periodic inspections or repairs and store this record for at least 3 years.
4.6.1
Before inspection and maintenance work
1. Do not attempt any work or operation unless described in this manual.
Neverattemptanyworkoroperationunlessdescribedinthismanual.
WARNING
NEvERATTEMpTINSpECTIoN,MAINTENANCE,REpAIR,ANDpARTREpLACEMENTUNLESSDESCRIBEDINTHIS
MANUAL.THESETASKSREqUIRESpECIALIzEDTECHNICALKNoWLEDgEANDSKILLSANDMAYALSoINvoLvE
HAzARDS.pLEASEBESUREToCoNTACTYoURDISTRIBUToRFoRADvICE.
2. Precautions during repair and parts replacement
WARNING
IFITISABSoLUTELYREqUIREDToREpAIRoRREpLACEANYpARToFTHERoBoT,pLEASEBESUREToCoNTACT
YoURDISTRIBUToRANDFoLLoWTHEINSTRUCTIoNSTHEYpRovIDE.INSpECTIoNANDMAINTENANCEoFTHE
RoBoTBYANUNSKILLEDoRUNTRAINEDpERSoNISExTREMELYHAzARDoUS.
Adjustment,maintenanceandpartsreplacementrequirespecializedtechnicalknowledgeandskills,andalsomayinvolvehazards.
These tasks must be performed only by persons who have enough ability and qualifications required by local laws and regulations.
WARNING
ADJUSTMENTANDMAINTENANCEBYREMovINgACovERREqUIRESpECIALIzEDTECHNICALKNoWLEDgEAND
SKILLS,ANDMAYALSoINvoLvEHAzARDSIFATTEMpTEDBYANUNSKILLEDpERSoN.FoRDETAILED
INFoRMATIoN,pLEASECoNTACTYoURDISTRIBUToRWHEREYoUpURCHASEDTHEpRoDUCT.
3. Shut off all phases of power supply
WARNING
ALWAYSSHUToFFALLpHASESoFTHEpoWERSUppLYExTERNALLYBEFoRECLEANINgTHERoBoTAND
CoNTRoLLERoRSECURELYTIgHTENINgTHETERMINALSCREWSETC.FAILUREToDoTHISMAYCAUSE
ELECTRICALSHoCKoRpRoDUCTDAMAgEoRMALFUNCTIoN.
4. Allow a waiting time after power is shut off (Allow time for temperature and voltage to drop)
WARNING
THEMoToRANDSpEEDREDUCTIoNgEARCASINgAREvERYHoTSHoRTLYAFTERopERATIoN,SoBURNSMAY
oCCURIFTHEYAREToUCHED.BEFoREToUCHINgTHoSEpARTSFoRINSpECTIoNSoRSERvICINg,TURNoFFTHE
CoNTRoLLER,WAITFoRAWHILEANDCHECKTHATTHETEMpERATUREHASCooLED.
S-11
Safety Instructions
ALWAYSMovEWITHINTHESAMEpoSITIoN,ITBECoMESDIFFICULTToFoRMANoILFILMoNTHESpEED
REDUCTIoNgEAR.THISMAYSHoRTENTHESERvICELIFEoFTHESpEEDREDUCTIoNgEAR.INTHISTYpEoF
opERATIoN,ADDARANgEoFMoTIoNSoTHATEACHAxISMovESTHRoUgH120DEgREESoRMoREABoUT5
TIMESADAY.
4.6.2
Precautions during service work
1. Precautions when removing a motor
WARNING
Safety Instructions
THEα-AxIS, β-AxISoRγ-AxIS WILLSLIDEDoWNWARDWHENTHEMoToRISREMovED,CAUSINgAHAzARDoUS
SITUATIoN.
• TURNoFFTHECoNTRoLLERANDpLACEASUppoRTUNDERTHEα-AxIS, β-AxISoRγ-AxIS BEFoREREMovINg
THEMoToR.
• BECAREFULNoTToLETYoURBoDYgETCAUgHTBETWEENTHEMovABLEBASEANDTHEINSTALLATIoN
BASE.
4.7
Disposal
Whendisposingofrobotsandrelateditems,handlethemcarefullyasindustrialwastes.Usethecorrectdisposalmethod
incompliancewithyourlocalregulations,orentrustdisposaltoalicensedindustrialwastedisposalcompany.
1. Disposal of packing boxes and materials
Whendisposingofpackingboxesandmaterials,usethecorrectdisposalmethodincompliancewithyourlocalregulations.Wedo
notcollectanddisposeoftheusedpackingboxesandmaterials.
S-12
5.
Emergency action when a person is caught by robot
Ifapersoniscaughtinbetweentherobotandmechanicalsection,suchasinstallationbase,usethebrakerelease
switchontherobotmainunittoreleasetheaxis.
Safety Instructions
Brake release switch
Brake release switch
Astherobotisputintheemergencystopstate,therobotdrivepowerisshutdown.However,theaxiscannotbemoved
sincethebrakeisactivated.So,releasethebrake,andthenpushtheaxisbyhandtomoveit.
WARNING
THEα-AxIS, β-AxISoRγ-AxISWILLSLIDEDoWNWARDWHENTHEBRAKEISRELEASED,CAUSINgAHAzARDoUS
SITUATIoN.
• BEFoRERELEASINgTHEBRAKE,BESURETopLACEASUppoRTUNDERTHEα-AxIS, β-AxISoRγ-AxISSoTHAT ITWILLNoTSLIDEDoWN.
• WHENRELEASINgTHEBRAKE,BECAREFULNoTToLETYoURBoDYgETCAUgHTBETWEENTHEMovABLE BASEANDTHEINSTALLATIoNBASE.
CAUTION
Releasethebrakeaxis-by-axis.
NOTE
Fordetailsaboutthebrakereleasewireconnector,see“4.2Wiringthebrakereleasewireconnector”inChapter2.
S-13
6.
Using the robot safely
6.1
Robot protective functions
Safety Instructions
1. Soft limits
Softlimitscanbesetoneachaxistolimittheworkingenvelopeinmanualoperationafterreturn-to-originandduringautomatic
operation. The working envelope is the area limited by soft limits.
WARNING
SoFTLIMITFUNCTIoNISNoTASAFETY-RELATEDFUNCTIoNINTENDEDTopRoTECTTHEHUMANBoDY.
ENSURESAFETYBYINSTALLINgASAFETYENCLoSUREANDSooN.
2. α-axis, β-axis or γ-axis brakes
Anelectromagneticbrakeisinstalledontheα-axis,β-axisandγ-axistopreventthemfromslidingdownwardwhentheservois
OFF.
WARNING
THEα-AxIS, β-AxISoRγ-AxISWILLSLIDEDoWNWARDWHENTHEBRAKEISRELEASED,CAUSINgAHAzARDoUS
SITUATIoN.TAKEADEqUATESAFETYMEASURESBYTAKINgTHEWEIgHTANDSHApEINToACCoUNT.
• BEFoRERELEASINgTHEBRAKEAFTERpRESSINgTHEEMERgENCYSTopBUTToN,pLACEASUppoRTUNDER THEα-AxIS, β-AxISoRγ-AxISSoTHATITWILLNoTSLIDEDoWN.
• WHENpERFoRMINgTASKS(DIRECTTEACHINg,ETC.)WITHTHEBRAKERELEASED,BECAREFULNoTToLET YoURBoDYgETCAUgHTBETWEENTHEMovABLEBASEANDTHEINSTALLATIoNBASE.
6.2
Residual risk
ToensuresafeandcorrectuseofoMRoNrobots,Systemintegratorsand/orendusersimplementthemachinerysafety
designthatconformstoISo12100orJIS9700-1/2.
ResidualrisksforoMRoNrobotsaredescribedintheDANgERorWARNINginstructionsprovidedineachchapter
andsection.So,readthemcarefully.
6.3
Special training for industrial robot operation
operatorsorpersonswhohandletherobotfortaskssuchasforteaching,programming,movementchecks,inspections,
adjustments,andrepairsmustreceiveappropriatetrainingandalsohavetheskillsneededtoperformthejobcorrectly
and safely. They must also read the manual carefully to understand its contents before attempting the robot operation or
maintenance.
Tasksrelatedtoindustrialrobots(teaching,programming,movementcheck,inspection,adjustment,repair,etc.)must
be performed by qualified persons who meet requirements established by local regulations and safety standards for
industrial robots.
S-14
Safety Instructions
Comparison of terms used in this manual with ISO
This manual
ISO 10218-1
Note
Maximum movement range
maximumspace
Area limited by mechanical stoppers.
Movement range
restricted space
Area limited by movable mechanical stoppers.
Working envelope
operational space
Within safety enclosure
safeguarded space
Area limited by software limits.
S-15
Warranty
Forinformationonthewarrantyperiodandterms,pleasecontactourdistributorwhereyoupurchasedtheproduct.
■ This warranty does not cover any failure caused by:
1.Installation,wiring,connectiontoothercontroldevices,operatingmethods,inspectionormaintenancethatdoesnotcomply
withindustrystandardsorinstructionsspecifiedintheoMRoNmanual;
2.UsagethatexceededthespecificationsorstandardperformanceshownintheoMRoNmanual;
3.productusageotherthanintendedbyoMRoN;
4.Storage,operatingconditionsandutilitiesthatareoutsidetherangespecifiedinthemanual;
5.Damageduetoimpropershippingorshippingmethods;
6.Accidentorcollisiondamage;
7.InstallationofotherthangenuineoMRoNpartsand/oraccessories;
8.ModificationtooriginalpartsormodificationsnotconformingtostandardspecificationsdesignatedbyoMRoN,including
customizingperformedbyoMRoNincompliancewithdistributororcustomerrequests;
9.pollution,saltdamage,condensation;
10.Firesornaturaldisasterssuchasearthquakes,tsunamis,lightningstrikes,windandflooddamage,etc;
11.BreakdownduetocausesotherthantheabovethatarenotthefaultorresponsibilityofoMRoN;
12.Electricalshockwhentheuserinstallstheactuator,etc.onthemovablebaseorendeffectorinthe3-axisspecifications.
■ The following cases are not covered under the warranty:
1.productswhoseserialnumberorproductiondate(month&year)cannotbeverified.
2. Changes in software or internal data such as programs or points that were created or changed by the customer.
3.productswhosetroublecannotbereproducedoridentifiedbyoMRoN.
4.productsutilized,forexample,inradiologicalequipment,biologicaltestequipmentapplicationsorforotherpurposeswhose
warrantyrepairsarejudgedashazardousbyoMRoN.
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year after the date of manufacturing as shown on the product serial number plate.
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.
1
Introduction
Contents
Before using the robot (Be sure to read the following notes.)
Introduction
i
ii
Before using the robot (Be sure to read the following notes.)
ThankyouforyourpurchaseofthisoMRoNDeltarobot.
Ifthefollowingproceduresareperformed,itwillnotbepossibletosettherobotoriginpositiontothesamepositionasthedefault
factorysetting.Consequently,itwillbenecessarytoadjusttheoriginpositionandtherobotmayoperateabnormally(vibration,
noise)ormalfunction.Sufficientcautionisthereforeadvised.
•Armremoval(armpositionchange)
TheDeltarobotoriginpositionisadjustedatthefactorybeforehandusingthejig(calibrationtool)provided.
Perform the following procedure if the arm position is changed for such reasons as bending the arm when installing the robot in
order to pass through the factory.
•Adjustthearmpositiontotheoriginpositionwiththecalibrationtool.
(Referto"2.Adjustingtheorigin"inChapter3ofthismanual.)
2. Repetitive positioning accuracy
"Repetitive positioning accuracy" is not guaranteed under the following conditions.
[1] Factors related to absolute accuracy
•Ifaccuracybetweenthecoordinatepositions(commandpositions)insidetherobotcontrollerandtherealspacepositions
(movingpositions)isrequired.
[2] Motion pattern factors
•Ifamotionapproachingtheteachingpointfromadifferentdirectionisincludedduringrepetitiveoperation.
•Ifthepoweristurnedoffortherobotisstoppedbeforecompletingthemotionorthemovingspeedischangedevenwhen
approaching the teaching point from the same direction.
[3] Temperature factors
•Iftheambienttemperatureenvironmentchangessignificantly.
•Ifthetemperatureoftherobotbodychanges.
[4] Load variation factors
•Ifloadconditionsvaryduringoperation(theloadvariesdependingonwhetherornottheworkpieceispresent,etc.)
3. If the α-axis, β-axis, γ-axis or θ-axis rotation angle is small
Iftheα-axis,β-axis,γ-axisorθ-axisrotationangleissmallerthan5°sothatitmovestoalmostthesameposition,itwillbe
difficultforanoilfilmtoformonthereductiongear,possiblyleadingtoshortenedgearlifetime.Withthistypeofoperation,add
amovementsothatthejointmovesthrough120°ormoreabout5timesaday.
4. α, β and γ-axis arm rotation range and tool movement area
TherobotTCp(toolcenterpoint)movementareaislargerthantheactualmovementarea.Alwayssettherobotmovementareaat
the controller.
Furthermore,whentherobotismakingitsmaximummovement(includingarmmaximumrotationrange),asufficientspacemust
be secured to avoid interference with user units.
Iftheabovepointsarenotobserved,therobotmaymalfunctionandcollidewithuserunits,resultinginpossibledamagetothe
robot.
Furthermore,theshafts,moveablebase,orendeffectormaydropout,orbedamagedandgoflying.
(Referto"7.Workingenvelopeandmaximummovementrange"inChapter2fordetails.)
5. Shaft and moveable base collision prevention
The robot may be damaged if the shaft and moveable base collide. Take care to ensure that they do not collide.
i
Introduction
1. Before using the robot, first perform the following checks and procedures.
Introduction
Introduction
TheoMRoNR6Y3industrialrobotisahigh-speed,multi-joint(parallellink)industrialrobot.
TheR6Y3parallellinkmechanismfeaturesanα-axis,β-axisandγ-axismotorarrangedat120°intervalsonabase,and
realizesrobotmovementinthex,Yandzdirectionsbyrotatingeachaxisupanddownatthepoint(TCp:toolcenter
point)whereeacharmintersectsinparallel.Byaddingaθ-axistothetip,thetoolcanalsoberotated±180degreesin
additiontotheabovementionedmovements.TheR6Y3industrialrobotisidealforspecialized,high-speedworksuch
asparttransportorboxpacking.
Thisuser'smanualdescribessafetymeasures,handling,adjustment,inspectionandmaintenanceoftheR6Y3robot
toensurecorrect,safeandeffectiveuse.Besuretoreadthismanualcarefullybeforeinstallingtherobot.Evenafter
readingthismanual,keepitinasafeandconvenientplaceforfuturereference.Thisuser'smanualshouldbeusedwith
therobotandconsideredanintegralpartofit.Whentherobotismoved,transferredorsold,sendthismanualtothe
newuseralongwiththerobot.Besuretoexplaintothenewusertheneedtoreadthroughthismanual.
Fordetailsregardingrobotoperation,refertothecontrolleruser’smanual.
ii
Chapter 1 Functions
Contents
1.
Robot manipulator
1-1
1.1
Manipulator movement
1-1
1.2
Part names
1-2
1.
Robot manipulator
1.1
Manipulator movement
Manipulator movement
θ-axis
α-axis
β-axis
γ-axis
θ-axis
Robot movement range
1-1
1
Functions
TheR6Y3robotconsistsofanα-axis,β-axisandγ-axis(arm,shaft),andaθ-axis(moveablebase).Withthese4axes,
theR6Y3robotcanmoveasshownintheFig.below.Byattachingdifferenttypesofendeffector(gripper)totheend,
a wide range of tasks can be performed with high precision at high speeds.
1.2
1
Part names
R6Y3
Eyebolt
Base
Functions
Arm
Cap
Boot
Shaft
θ-axis motor cover
Moveable base
Spring cover
Plastic bearing
Tool flange
Plate
Plastic bearing
Link ball
Moveable base
α-axis
β-axis
Cap
Warning label 3
Boot
Brake release switch
Warning label 2
Warning label 1
γ-axis
Link ball
Tool flange
Moveable base
1-2
Chapter 2 Installation
Contents
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
2-3
2.3
Moving the robot
2-4
2.3.1
2.3.2
Installing on base prepared by user
Moving the robot to another installation base or removing the robot
2-4
2-5
2.4
Installing the robot
2-7
3.
Protective bonding
4.
Connection
2-9
2-10
4.1
Robot cable connection
2-10
4.2
Wiring the brake release wire connector
2-10
4.3
θ-axis connection wiring specifications
(R6Y31110L03067NJ5, R6Y31110H03067NJ5)
2-11
5.
User tubing
2-12
6.
Attaching the end effector
2-13
6.1
θ-axis tolerable moment of inertia and acceleration
2-13
6.1.1
θ-axismomentofinertiaofloadandaccelerationcoefficient
2-13
6.2
Equation for moment of inertia calculation
2-14
6.3
Example of moment of inertia calculation
2-17
6.4
Attaching the end effector
2-19
7.
Working envelope and maximum movement range
2-20
8.
Detaching or attaching the covers
2-21
8.1
Detaching or attaching the α, β and γ-axes covers
2-21
8.1.1
8.1.2
α,β,γ-axiscoverremovalprocedure
α,βandγ-axiscoverattachmentprocedure
2-22
2-27
9.
Detaching or attaching the shafts, moveable base, and spring covers 2-33
9.1
Attaching the shafts, moveable base, and spring covers
2-33
9.1.1
9.1.2
R6Y30110S03067NJ5(3-axesspecification)
R6Y31110L03067NJ5,R6Y31110H03067NJ5(4-axesspecification)
2-33
2-35
9.2
Detaching the shafts, moveable base, and spring cover
2-38
1.
Robot installation conditions
1.1
Installation environments
Be sure to install the robot in the following environments.
Setting environments
Specifications
0to45°C
Allowable ambient humidity
35to85%RH(noncondensation)
Altitude
0 to 1000 meters above sea level
Ambient environments
2
Avoidinstallingnearcuttingwater,oil,dust,metallicchips,ororganicsolvents.
Avoid installation near corrosive gas and corrosive materials.
Avoidinstallationinatmospherecontaininginflammablegas,dustorliquid.
Avoidinstallationnearobjectscausingelectromagneticinterference,electrostaticdischargeor
radio frequency interference.
vibration
Do not subject to impacts or vibrations.
Airsupplypressure,etc.
Below0.6Mpa(6.1kgf/cm 2);cleandryairnotcontainingdeterioratedcompressoroil;filtration
40μmorless
Working space
Allowsufficientspacemargintoperformjobs(teaching,inspection,repair,etc.)
WARNING
• AvoIDINSTALLINgTHERoBoTINLoCATIoNSWHERETHEAMBIENTCoNDITIoNSMAYExCEEDTHE ALLoWABLETEMpERATUREoRHUMIDITY,oRINENvIRoNMENTSWHERECoRRoSIvEgASES,METALLIC
poWDER,oRDUSTAREgENERATED.MALFUNCTIoN,FAILUREoRSHoRTCIRCUITSMAYoTHERWISERESULT.
• THISRoBoTWASNoTDESIgNEDFoRopERATIoNINENvIRoNMENTSWHEREINFLAMMABLEoRExpLoSIvE SUBSTANCESAREpRESENT.
• DoNoTUSETHERoBoTINENvIRoNMENTSCoNTAININgINFLAMMABLEgAS,DUSToRLIqUIDS.ExpLoSIoNS
oRFIRECoULDoTHERWISERESULT.
• AvoIDUSINgTHERoBoTINLoCATIoNSSUBJECTToELECTRoMAgNETICINTERFERENCE,ELECTRoSTATIC
DISCHARgEoRRADIoFREqUENCYINTERFERENCE.MALFUNCTIoNMAYoTHERWISEoCCUR.
• DoNoTUSETHERoBoTINLoCATIoNSSUBJECTToExCESSIvEvIBRATIoN.RoBoTINSTALLATIoNBoLTSMAY
oTHERWISEBECoMELooSE,CAUSINgTHERoBoTToFALLovER.
2-1
Installation
Allowable ambient temperature
1.2
Installation base
• prepareasufficientlyrigidinstallationbase.Usinganinsufficientlyrigidbasewillresultinvibrationsandpoor positioning.
• Thearmmovementareaforeachaxisisabovetherobotbase,andthereforetherobotmustnotbeinstalledonthe ceiling,etc.Therobotmaymalfunctionifarmscrash.
Installation base attachment surface instruction Parallelism: 0.5
2
Installation
( 1200): arm rotation range
Cable
interference
range
(350)
(80)
Movement range
1800 tool movement range
Tool movement area
Arm rotation range (tool movement area)
(650)
450
(120) (200)
255
(Arm rotation range)
(Tool movement area)
0
(150)
(300)
R90
(1100)
Tool movement area
( 580)
( 1100)
2-2
2.
Installation
2.1
Unpacking
WARNING
THERoBoTANDITSACCESSoRIESAREExTREMELYHEAvY.TAKESUFFICIENTCARENoTToDRopTHEMDURINg
MovINgoRUNpACKINgASTHISMAYDAMAgETHEEqUIpMENToRCAUSEBoDILYINJURY.
TheR6Y3robotcomespackedwitharms,shafts,amoveablebase,andaccessories.Usingacarryingcart(dolly)or
forklift,movethepackageneartheinstallationbase.Takesufficientcarenottoapplyshockstotheequipmentwhen
unpacking it.
Packed state
2.2
Checking the product
Afterunpacking,checktheproductconfigurationandconditions.
CAUTION
Ifthereisanydamageduetotransportationorinsufficientparts,pleasenotifyyourdistributorimmediately.
Name
Q'ty
Remarks
Shafts
3
3(α,β,γ-axes)
Spring covers
6
Moveable base
1
Calibrationtool(α,β,γ-axes)
1
α,β,γ-axeshomepositionadjustmentjig,withboltsandwashers
Calibrationtool(θ-axis)
1
θ-axishomepositionadjustmentjig
Brake release wire connector
1
Plastic bearing replacement jig
1
Duct
1
User’s Manual
1
Warninglabel(1)
1
Plastic bearing that slides toward link ball
2-3
Installation
CAUTION
Whenmovingtherobotorcontrollerbyequipmentsuchasafolkliftthatrequirealicense,onlyproperlyqualifiedpersonnelmay
operate it. The equipment and tools used for moving the robot should be serviced daily.
2
2.3
Moving the robot
WARNING
•SERIoUSINJURYMAYoCCURIFTHERoBoTFALLSANDpINSSoMEoNEUNDERIT.
•DoNoTALLoWANYpARToFYoURBoDYToENTERTHEAREABENEATHTHERoBoTDURINgWoRK.
•ALWAYSWEARAHELMET,SAFETYSHoESANDgLovESDURINgWoRK.
• CHECKTHATTHEREARENoCRACKSoRCoRRoSIoNoNTHEEYEBoLTSoREYEBoLTINSTALLATIoNAREA.IF FoUND,DoNoTUSEEYEBoLTSToMovETHERoBoT.
• SCREWTHEEYEBoLTSFIRMLYUNTILTHEBEARINgSURFACEoFTHEEYEBoLTMAKESTIgHTCoNTACTWITH THEBEARINgSURFACEoNTHEBASE.EYEBoLTSAREALREADYFITTEDWHENTHERoBoTISSHIppED.
• USEAHoISTANDRopEWITHCARRYINgCApACITYSTRoNgENoUgHToSUppoRTTHERoBoTWEIgHT.
• MAKESURETHERopESTAYSSECURELYoNTHEHoISTHooK.
• AvoIDDANgERoUSBEHAvIoRLIKELYToUpSETTHEBALANCEWHENTRANSpoRTINgTHERoBoT.
• REMovETHESHAFTS,MovEABLEBASE,ANDLoADFRoMTHEENDoFTHERoBoTARM.FAILUREToREMovE
THESELoADSMAYRESULTINRoBoTMALFUNCTIoN.
• DoNoTAppLYFoRCEToTHERoBoTBoDY.
2
Installation
WHENUNpACKINgTHERoBoT,pLEASEpAYATTENTIoNToTHEFoLLoWINgADDITIoNALpoINT.
•THEARMSAREADJUSTEDToTHEIRRESpECTIvEoRIgINpoSITIoNSpRIoRToSHIppINgANDTHEREFoRE
SHoULDNoTBEToUCHED.
CAUTION
•Whenmovingtherobotbyequipmentsuchascranesthatrequirealicense,onlyproperlyqualifiedpersonnelmayoperateit.
•Theequipmentandtoolsusedformovingtherobotshouldbeserviceddaily.
Refer to "1.1 Basic specifications" in Chapter 5 for details on the robot weight.
2.3.1
Installing on base prepared by user
NOTE
Therobotisfixedattheoriginpositionwhenshippedfromthefactory.
1
Pass three ropes through the eyebolts and hang them on the hoist.
2
3
Remove the wooden screws securing the pallet and wooden supports.
Use looped ropes with the same length to allow a good lifting balance.
Hold the robot, remove the bolts used to secure the wooden supports and robot body, and
then remove the wooden supports.
Slightlyliftthehoistsothatthetensionislightlyappliedtoeachropetoholdtherobot,andthenremovethemountingbolts
used to secure the wooden supports.
Wooden support, bolt removal
Bolts
Wooden support
2-4
4
Move the robot.
Movetherobotcarefullytotheinstallationbase,usingcaretokeeptherobotbalanced,andavoidsubjectingittovibrations
and shocks.
Theropeangleatthistimeshouldbekeptat60°ormore.
CAUTION
Whenmovingtherobot,donotholdtherobotarmorrobotcover.Itmaycausedeviationoftheoriginpositionthathasbeenadjusted
and damage to the robot arm or robot cover.
2
Robot transportation
Installation
60° or more
Do not hold arm and cover
5
Temporarily secure the robot to the base by tightening the bolts.
6
Fully tighten all six bolts.
Movetherobottothebasepreparedbytheuserandtemporarilysecurethreepointsneareachaxisontherobotbasewiththe
bolts. Then temporarily tighten the remaining three bolts.
NOTE
Refer to "2.4 Installing the robot" in this chapter for details on bolt attachment direction and tightening torque.
7
Remove the ropes.
CAUTION
• Ifremovingtheeyebolts,alwaysattachboltstoprotectthetappedeyeboltholes.
• Alwaysstoretheeyeboltssincetheymaybeusedtomovetherobotagain.
2.3.2
Moving the robot to another installation base or removing the robot
1
Move the α-axis, β-axis and γ-axis to
their respective origin positions.
2
Remove the screw cover, shafts,
moveable base, and load from the end
of the arm.
Referto"9.Detachingorattachingtheshafts,
moveablebase,andscrewcovers"inthischapter.
2-5
2
3
Remove the duct and connector cover
(cap, boot).
4
Disconnect the robot cable.
Duct, connector cover removal
Step 3
Cap
CAUTION
Afterdisconnectingthebrakereleasewireconnector,store
the cover cable inside the cover.
5
Installation
6
Remove the motor cover.
Refer to "8. Detaching or attaching the covers" in
this chapter before removing the cover.
Duct
Boot
Pass three ropes through the eyebolts
and hang them on the hoist.
Use looped ropes with the same length to allow a
good lifting balance.
CAUTION
Attach the eyebolts if they have been removed. Always use
the eyebolts and a hoist when moving the robot. Failing to
do so could cause bodily injury.
7
Hold the robot and remove the
mounting bolts.
Slightly lift the hoist so that the tension is lightly
appliedtoeachropetoholdtherobot,andthen
removethebasemountingbolts(ifmovingtherobot
toanotherbase).
8
9
Move the robot.
Using caution to keep the balance of the robot and
avoid subjecting it to any strong vibrations and
shocks,carefullymovetherobottotheinstallation
base.
Theropeangleatthistimeshouldbekeptat60°or
more.
Temporarily secure the robot to the
base by tightening the bolts.
First,temporarilysecurethreepointsneareachaxis
on the robot base with the bolts. Then temporarily
tighten the remaining three bolts.
10
Fully tighten all six bolts.
NOTE
Refer to "2.4 Installing the robot" in this chapter for details on
bolt attachment direction and tightening torque.
11
Remove the ropes.
CAUTION
• Ifremovingtheeyebolts,alwaysattachboltstoprotect
the tapped eyebolt holes.
• Alwaysstoretheeyeboltssincetheymaybeusedtomove
the robot again.
2-6
Cap removal
Boot removal
2.4
Installing the robot
CAUTION
Installation space
• Aspaceof200mmavobethebaseisincludedinthemovementrangeoftheα,βandγ axes
Ensure that the installation base prepared by the user does not interfere with the arm movement range.
• Ensureaflatnessof0.5onthesurfaceoftheinstallationbasepreparedbytheuser.
2
Outline drawing
1100: Movement area
(80)
(350)
Installation
Cable interference range
1200: arm rotation range
650
120
200
Arm rotation range
150
300
74
1100
Tool movement area
580
1100
Either of the following methods may be used to secure the robot to the installation base.
• Borethroughholesintheinstallationbasepreparedbytheuser,andusetheM12tappingholesontherobotbaseto
secure the robot to the installation base.
• BoreM14tappingholesintheinstallationbasepreparedbytheuser,andusetheø16throughholesontherobotbase
to secure the robot to the installation base.
2-7
InstalltherobotsecurelywiththesixhexsocketheadboltsasshownintheFig.below.
WARNING
WHENINSTALLINgTHERoBoT,BESUREToUSETHESpECIFIEDSIzEANDqUANTITYoFBoLTSTHATMATCHTHE
DEpTHoFTAppEDHoLESINTHEINSTALLATIoNBASE,ANDSECURELYTIgHTENTHEBoLTSWITHTHECoRRECT
ToRqUE.IFTHEBoLTSARENoTTIgHTENEDCoRRECTLY,THERoBoTMIgHTDRopoRFALLovER.
Ifusingø16throughholesonrobotbase
M12
M14
128Nm(1310kgfcm)
205Nm(2090kgfcm)
Bolts Used
Tightening torque
Attachment area details
45
°
20
°
M4 earth terminal
30°
30
30
P.C
.D.4
20
M4×0.7, depth 8
(for securing cables)
6- 16 through hole (base thickness: 25)
00
Suspension eyebolt ( 50) position
Attention should be paid to installation range.
10° 10°
30°20°
15°
3 locations in shaded areas, installation possible range
6-M12×1.75 through hole (base thickness: 25)
Installation surface details
2-8
20°
10°
220
30
45°
20° 20°
20°
Installation
Depthoftappedholesininstallationbase:
Ironinstallationbase :Boltdiameter×1.5ormore
Aluminuminstallationbase Boltdiameter×3.0ormore
Recommendedbolt
:JISB1176hexsocketheadbolt,orequivalent
StrengthclassJISB105112.9,orequivalent
15°
30°
20°
2
If using M12 tapping holes on robot base
3.
Protective bonding
WARNING
• ALWAYSgRoUNDTHERoBoTTopREvENTELECTRICSHoCK.
• TURNoFFTHECoNTRoLLERBEFoREgRoUNDINgTHERoBoT.
2
Provide a terminal marked "PE" for the protective conductor of the entire system and
connectittoanexternalprotectiveconductor.Inaddition,securelyconnecttheground
terminal on the robot pedestal to the same protective conductor.
(SeetheFig.below.)
Example of grounding
Ground symbol
M4 Ground terminal
Calibration tool attachment hole
TherearetwoM4earthterminalslocatedneartheattachmenthole(M12)forthecalibrationtoolusedtoadjustthe
robotbaseoriginposition.Useoneterminalfortheexternalprotectiveconductor,andtheotherterminalfortheθ-axis
cable grounding.
Use a ground cable with conductor wire cross section of at least 2.0mm 2 and length within 1m.
CAUTION
The user is responsible for providing a proper grounding when the end effector includes an electrical device which could possibly
malfunction,causingcontactwiththepowersupply.
NOTE
FordetailsonprotectivebondingfortherobotbodytocomplywithCEMarking,followtheinstructionsdescribedinthecontroller
user's manual.
2-9
Installation
(Symbol 417-IEC-5019）
4.
Connection
4.1
Robot cable connection
TherobotcableisnotconnectedtotheR6Y3robot.
Refer to the controller user's manual for details on the operation check after connection.
2
Installation
WARNING
• THESHApEoFTHEMoToRCoNNECToRSANDENCoDERCoNNECToRSISTHESAMEFoRTHEα-AxIS, β-AxIS
ANDγ-AxISExERCISECAUTIoNWHENCoNNECTINg.THERoBoTMAYMALFUNCTIoNIFINCoRRECTLY
CoNNECTED.
• THERoBoTMAYMALFUNCTIoNIFpINCoNTACTDEFECTSoCCURBECAUSETHECoNNECToRSARENoT
CoNNECTEDpRopERLY.ENSURETHATALLCoNNECToRSARESECURELYCoNNECTEDBEFoRETURNINgoN
THECoNTRoLLERpoWER.
4.2
Wiring the brake release wire connector
ThebrakereleasewireconnectorisprovidedasanaccessorywithR6Y3robot.
Refer to the Fig. below when connecting the robot and brake release wire connector.
Furthermore,usersarerequiredtopreparethewireleadingfromthebrakereleasewireconnector.
Refer to the controller user's manual for details on the operation check after connection.
WARNING
• THERoBoTMAYMALFUNCTIoNIFTHEBRAKERELEASEWIRECoNNECToRpINSAREBENToRBRoKEN,oRIF •
•
THECABLEISDAMAgED.ENSURETHATTHEREISNoSUCHDAMAgEpRIoRToCoNNECTIoN.
THESHApEoFTHEBRAKERELEASEWIRECoNNECToRISTHESAMEFoRTHEα-AxIS, β-AxISANDγ-AxIS
ExERCISECAUTIoNWHENCoNNECTINg.THERoBoTMAYMALFUNCTIoNIFINCoRRECTLYCoNNECTED.
THERoBoTMAYMALFUNCTIoNIFpINCoNTACTDEFECTSoCCURBECAUSETHECoNNECToRSARENoT
CoNNECTEDpRopERLY.ENSURETHATALLCoNNECToRSARESECURELYCoNNECTED.
Brake release wire connector connection (robot side)
Brake release wire connector
Wiring
Contact
1
COM
2
No
3
NC
Brake release wire connector parts
2-10
Brake release wire (robot side)
4.3
θ-axis connection wiring specifications (R6Y31110L03067NJ5,
R6Y31110H03067NJ5)
θ-axisconnectionwiringspecificationsfortheR6Y31110L03067NJ5andR6Y31110H03067NJ5areshownbelow.
CAUTION
Take care not to wire cables incorrectly. The robot will malfunction if used when incorrectly wired.
•
Signal
Color
P
Connection
P
E5v
Blue
4
4
E0v
White
1
1
BAT+
Yellow
6
6
BAT-
Brown
5
5
S+
green
3
3
S-
Black
7
7
Fg
Shield
9
9
Remarks
Installation
No.
•
2
Encoder wire wiring, left side is driver side
JN1HS10PL2 (JAE)
P
Motor wire wiring, left side is driver side
NMS3101B-20-4-P, NMS3057-12A (JAE)
No.
Signal
Color
P
Connection
P
U
Red
A
1
v
White
B
2
W
Black
C
3
Fg
green
D
4
Remarks
Round terminal
2-11
5.
2
User tubing
WARNING
• THERoBoTMAYMALFUNCTIoNDURINgpIpINgWoRK,ANDTHEREFoRETHEAIRSUppLYMUSTALWAYSBE
TURNEDoFFBEFoREHAND.
• DoNoTRUNpIpESALoNgTHESHAFToRARMATTHEUSERSIDE.DoINgSoMAYCAUSEpRoBLEMSWITH
opERATIoNSSUCHASpICKUp.
TheR6Y3robotisequippedwithanairtubeattachmentportforusebytheuseronthemoveablebasesideoftherobot.
The following air tubes may be used.
Installation
Usertubing: ø 6×1
Air tube specifications are shown below. Always observe these specifications.
User tubing
Maximum pressure
0.6Mpa(6.1Kgf/cm 2)
Outer diameter × inner diameter
ø6mm×ø4mm
Fluid
Drycleanairnotcontainingdeterioratedcompressoroil;
filtration40μmorless
TheTCpsidehasataperedscrewholeforusertubing.Forthelocations,referto"1.3Robotinnerwiringdiagram"in
Chapter 5.
2-12
6.
Attaching the end effector
6.1
θ-axis tolerable moment of inertia and acceleration
6.1.1
θ-axis moment of inertia of load and acceleration coefficient
Themomentofinertiaofaload(endeffectorandworkpiece)thatcanbeattachedtotheendeffectorattachmentareais
limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to
reduce the acceleration in accordance with the moment of inertia.
θ-axis tolerable moment of
inertia
R6Y30110S03067NJ5
R6Y31110L03067NJ5
R6Y31110H03067NJ5
0.01kgm 2
0.035kgm 2
Methods for calculating the moment of inertia of the load are shown in "6.2 Equation for moment of inertia calculation"
and"6.3Exampleofmomentofinertiacalculation".However,itisnoteasytopreciselyfigureoutthesevalues.Ifa
calculatedvaluesmallerthantheactualmomentofinertiaisset,residualvibrationsmayoccur.Insuchacase,lower
the acceleration even further.
CAUTION
• Therobotmustbeoperatedwithcorrecttolerablemomentofinertiaandaccelerationaccordingtothemanipulatortipmassand
moment of inertia. Failing to observe this requirement could shorten the life of the drive units and cause robot damage due to
vibration during positioning.
• Dependingonthepositionoftheα,βandγ-axes(x,Y,z-axes),vibrationsmayoccurduringx,Y,orz-axismovement,orduring θ-axisrotation.Ifvibrationsoccur,lowertheα,βandγ-axes(x,Y,z-axes)andθ-axisacceleration.
2-13
Installation
Model
2
6.2
Equation for moment of inertia calculation
Usuallytheθaxisloadisnotasimpleform,andthecalculationofthemomentofinertiaisnoteasy.Asamethod,the
load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated.
The total of the moment of inertia for these factors is then obtained.
Theobjectsandequationsoftenusedforthecalculationofthemomentofinertiaareshownbelow.Incidentally,there
isthefollowingrelation:J(kgfcmsec 2)=I(kgm 2)×10.2.
2
1)Momentofinertiaformaterialparticle
The equation for the moment of inertia for a material particle that has a rotation center such as shown in the Fig. below is as
follows:
Thisisusedasanapproximateequationwhenxislargerthantheobjectsize.
Installation
Moment of inertia for material particle
I= mx2 (kgm2)
J=
Wx2
g
(kgfcmsec2)
... (1)
x
g : Gravitational acceleration (cm/sec2)
m : Mass of material particle (kg)
W : Weight of material particle (kgf)
2)Momentofinertiaforcylinder(part1)
The equation for the moment of inertia for a cylinder that has a rotation center such as shown in the Fig. below is given as
follows.
Moment of inertia for cylinder (part 1)
I=
J=
rpD4h
32
rpD4h
32g
=
=
mD2
8
(kgm2)
WD2
8g
h
(kgfcmsec2)
... (2)
r : Density (kg/m3, kg/cm3)
g : Gravitational acceleration (cm/sec2)
D
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
2-14
3)Momentofinertiaforcylinder(part2)
The equation for the moment of inertia for a cylinder that has a rotation center such as shown in the Fig. below is given as
follows.
Moment of inertia for cylinder (part 2)
rp D2h
I=
(
16
rp D2h
J=
(
16g
D2
4
D2
4
h2
+
) =
3
h2
+
) =
3
m
4
W
4g
(
(
D2
4
D2
4
h2
+
3
+
h2
3
(kgm2)
)
(kgfcmsec )
2
... (3)
r : Density (kg/m3, kg/cm3)
h
2
g : Gravitational acceleration (cm/sec2)
h
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
4)Momentofinertiaforprism
The equation for the moment of inertia for a prism that has a rotation center as shown in the Fig. below is given as follows.
Moment of inertia for prism
rabc(a2+b2)
I=
c
b
12
rabc(a2+b2)
J=
1/2a
=
=
12g
m(a2+b2)
12
W(a2+b2)
12g
(kgm2)
(kgfcmsec2)
... (4)
a
r : Density (kg/m3, kg/cm3)
g : Gravitational acceleration (cm/sec2)
m : Mass of prism (kg)
W : Weight of prism (kgf)
5)Whentheobject'scenterlineisoffsetfromtherotationcenter.
Theequationforthemomentofinertia,whenthecenterofthecylinderisoffsetbythedistance"x"fromtherotationcenteras
shown in the Fig. below is given as follows.
When the object’s center line is offset from the rotation center.
Center line
I=
Rotation
center
J=
=
h
rpD4h
32
rpD4h
+
32g
WD2
8g
rpD2hx2
+
+
4
=
mD2
8
+ mx2
(kgm2)
rpD2hx2
4g
Wx2
g
(kgfcmsec2)
... (5)
D
r : Density (kg/m3, kg/cm3)
x
g : Gravitational acceleration (cm/sec2)
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
2-15
Installation
D
2
)
Inthesamemanner,themomentofinertiaofacylinderasshownintheFig.belowisgivenby
Moment of inertia of a cylinder
Center line
2
I=
=
D
J=
x
Installation
h
=
rpD2h
16
m
rpD2h
16g
W
(
4g
4
D2
+
4
h2
+
3
(kgm2)
rpD2h x2
) +
3
h2
4
) + mx2
3
D2
(
rpD2h x2
) +
3
h2
+
4
h2
+
4
D2
(
4
D2
(
4g
Wx
) +
2
g
(kgfcmsec2)
... (6)
Inthesamemanner,themomentofinertiaofaprismasshownintheFig.belowisgivenby
Moment of inertia of a prism
Center line
I=
J=
c
x
b
a
rabc(a2+ b2)
12
rabc(a2+ b2)
+
12g
W(a + b )
2
=
+ rabcx2=
12g
2
+
m(a2+b2)
12
rabcx2
g
Wx2
(kgfcmsec2)
g
... (7)
m : Mass of prism (kg)
W : Weight of prism (kgf)
2-16
+ mx2 (kgm2)
6.3
Example of moment of inertia calculation
Let'sdiscussanexampleinwhichthechuckandworkpieceareatapositionoffsetby10cmfromtheθ-axisbythestay,
asshownintheFig.below.Themomentofinertiaiscalculatedwiththefollowingthreefactors,assumingthattheload
materialissteelanditsdensityρis0.0078kg/cm 3.
Example of moment of inertia calculation
2
(The chuck and workpiece are at a position offset by 10cm from the θ-axis by the stay.)
θ-axis
Installation
2cm
Stay
2cm
2cm
1cm
10cm
4cm
1cm
6cm
Chuck
Workpiece
4cm
2cm
1. Moment of inertia of the stay
Moment of inertia of the stay
The weight of the stay (Ws) is given as follows:
Center line
θ-axis
2cm
2cm
Ws = rabc = 0.0078 × 12 × 2 × 2 = 0.37 (kgf)
5cm
12cm
The moment of inertia of the stay (Js) is
then calculated from Eq. (7).
Js =
0.37 × (122+22)
12 × 980
+
0.37 × 52
980
= 0.014 (kgfcmsec2)
2-17
2. Moment of inertia of the chuck
Moment of inertia of the chuck
When the chuck form resembles
10cm
2cm
θ-axis
that shown in figure, the weight
of the chuck (Wc) is
2
Wc
4cm
= 0.0078 × 2 × 4 × 6 = 0.37 (kgf)
The moment of inertia of the
chuck (Jc) is then calculated
from Eq. (7).
6cm
Installation
Jc =
0.37 × (22+42)
12 × 980
0.37 × 102
+
980
= 0.038 (kgfcmsec2)
3. Moment of inertia of workpiece
Moment of inertia of workpiece
When the workpiece form
10cm
θ-axis
resembles that shown in figure, the weight of the
workpiece (Ww) is
Ww =
rpD2h
4
0.0078p × 22 × 4
=
4
= 0.098 (kgf)
4cm
The moment of inertia of the
workpiece (Jw) is then calculated
from Eq. (5).
2cm
Jw =
0.097 × 22
8 × 980
+
= 0.010 (kgfcmsec2)
4. Total weight
Thetotalweight(W)iscalculatedasfollows:W=Ws+Wc+Ww=0.84(kgf)
5. Total moment of inertia
Thetotalmomentofinertia(J)isthenobtainedasfollows:J=Js+Jc+Jw=0.062(kgfcmsec 2)
2-18
0.097 × 102
980
6.4
Attaching the end effector
Itisnecessarytopreparetheuser'sendeffectorattachingparttotherobotthathasadequatestrengthandrigidity,as
well as gripping force to prevent positioning errors.
WARNING
• BEFoREATTACHINgTHEENDEFFECToR,BESUREToTURNoFFTHECoNTRoLLER.
• WHENTHEENDEFFECToRISATTACHEDUSINgTHESLoTCLAMpINg,ALWAYSoBSERvETHECoNDITIoNS
LISTEDINTHETABLE,"MAxIMUMLoADAppLIEDToENDEFFECToRATTACHMENT".IFTHESEAREIgNoRED, THEENDEFFECToRMAYCoMELooSEANDFLYoFFDURINgRoBoTopERATIoN,RESULTINgINANACCIDENT oRINJURY.
Installation
NOTE
Refer to the controller user's manual for details on the end effector operation check.
The recommended end effector attachment method is shown below.
End effector attachment
If attached to tool flange M5 hole
M5 hole
Model
Bolt
Qty
R6Y3
M5
4
Torque
Nm
kgfcm
4.5
46
WARNING
oNLYUSETHETApINTHECENTERATTHEBoTToMoFTHEENDEFFECToRATTACHMENTAREAFoRATTACHINg
TUBINgJoINTS.
End effector attachment area in detail
(ISO9409)
20 Depth 3
5 H7 +0.012
Depth 10
0
40
2
4-M5×0.8 Depth 10
2-19
7.
Working envelope and maximum movement
range
Therobot'sworkingenvelopeandmaximummovementrangeareshownbelow.
RANgE).
Notethattherobot'sTCp(toolcenterpoint)movementrangeislargerthantheactualworkingenvelope.Besuretospecifythe
robot working envelope at the controller side.
( 1200): arm rotation range
Cable
interference
range
(350)
(80)
Movement range
1800 tool movement range
Tool movement area
Arm rotation range (tool movement area)
(Arm rotation range)
(120) (200)
255
(650)
(Tool movement area)
0
(300)
R90
(1100)
Tool movement area
(150)
Installation
WARNING
INoRDERTopREvENTINTERFERENCEWITHoTHERUSEREqUIpMENT,BESURETopRovIDEADEqUATESpACE
ToACCoMMoDATETHERoBoT'SMAxIMUMMovEMENTRANgE(INCLUDINgTHEARM'SMAxIMUMMovEMENT
450
2
■ For α, β and γ-axes
( 580)
( 1100)
2-20
8.
Detaching or attaching the covers
8.1
Detaching or attaching the α, β and γ-axes covers
CAUTION
Theα,βandγ-axesmotorcoverconstructiondoesnotcomplywithIp67,andthereforetheinsideofthecovershouldbecleaned
periodically. The motor and speed reduction gear inside the cover do comply with IP67.
R6Y3
θ-axis
α-axis
β-axis
Bolt
γ-axis
θ-axis
2-21
2
Installation
WARNING
• IFTHECovERSAREREMovEDFoRMAINTENANCEWoRK,BESUREToRETURNTHEMToTHEIRoRIgINAL
poSITIoNSUSINgTHESCREWSANDBoLTSUSEDToSECUREDTHEM.
• IFANYoFTHESCREWSoRBoLTSBECoMELoST,USETHESpECIFIEDSCREWS/BoLTSANDqUANTITIESTo
SECURETHECovERSWHILEREFERRINgToTHEFIg.BELoW.
• IFTHECovERSARENoTSECUREDFIRMLY,NoISEMAYoCCUR,THECovERSMAYDRopANDFLYoUT,HANDS
MAYBECoMEENTANgLEDINTHEDRIvEUNITDURINgTEACHINg,oRCoMEINToCoNTACTWITHTHEHoT
DRIvEUNIT,CAUSINgBURNS.oBSERvETHESECAUTIoNSSTRICTLYTopREvENTSUCHTRoUBLE.
8.1.1
α, β, γ-axis cover removal procedure
WARNING
WHENHANDLINgMoToRS,TAKECAREToAvoIDELECTRICSHoCKoRBURNSoWINgToTHEHEATgENERATED
BYTHEMoToRS.
2
1
Remove the duct, boot, and cap.
Step 1
Duct, boot, and cap removal
NOTE
The boot and cap are merely inserted when the robot is
shipped.
Cap
Installation
2
Disconnect the robot cable connector.
Duct
Boot
Boot removal
Cap removal
2-22
3
Remove the M5 hex bolt from the top
of the motor cover.
4
Remove the cover a little.
Step 3
Bolt removal
grasptherearofthecoverandpullitoutwhile
shaking it up and down to remove the cover a little.
About10mmoftherubberwillcomeout(within
5mmwhenattached).
2
M5 hex bolt
NOTE
The inside of the cover will catch and so will not come off
completely.
Temporarily removed cover
Cover
Pull out a little at a time
while shaking up and down.
10mm width
Cover bottom temporarily removed
10mm width
Cover top temporarily removed
2-23
Installation
Step 4
5
Pull the cover out further.
Make a gap between the cover and base by pulling
the cover out further.
Step 5
Temporarily removed cover
NOTE
The cover will catch at this point and so will not come off
completely.
2
Installation
Cover bottom temporarily removed
Cover top temporarily removed
2-24
6
Pull out the cover.
graspthesidesofthecoverandpushbothsidesso
that the bottom deforms a little to pull out the cover.
The clips on the inside near the switch will come
free,makingiteasiertopulloutthecoverwithoutit
catching.
The motor connector will catch on the hole on the
sideofthecover,andsothecovershouldbeshifted
to avoid the connector. The switch on the inside will
catchonthemotorconnector,andsothecovershould
be pulled out while trying to avoid the connector.
Step 6
Pull out the cover.
2
Installation
Slide the cover.
Internal switch
2-25
■ Clip structure
The cover clips will catch on the step on the bracket below the reduction gear.
Therearetwosteps,andtheclipscatchonthesecondstep.
Clip construction
2
Reduction gear
Installation
Bracket
Clip construction on inside
Clips
Inside of removed cover
Connection cable
Brake release switch
2-26
8.1.2
α, β and γ-axis cover attachment procedure
Attach the cover using the opposite of the procedure used for removal.
WARNING
THESAMETYpEoFMoToRWIREANDENCoDERWIREISUSEDFoRTHEα-AxIS, β-AxISANDγ-AxISCoNNECTTHE
CABLESSoTHATTHEYMATCHTHERESpECTIvEAxESATTHECoNTRoLLER(DRIvER).THERoBoTWILLNoT
opERATECoRRECTLY,RESULTINgINpoSSIBLEDANgERIFTHECABLESARECoNNECTEDINCoRRECTLY.
1
Insert the motor wire from smaller
hole on the boot with small hole.
Step 1
The motor wire connector is larger and should
therefore be inserted first.
The motor wire connector should still be inserted
firstevenifusingL-shapedconnectors.
Motor wire
Boot
Insert the encoder wire and brake
release wire (prepared by user) from
smaller hole on the boot.
CAUTION
The encoder wire must pass through the inside of the cover
andthereforeasufficientlengthofwireshouldbeinserted.
3
Pull the cover internal cables from the
hole with the boot.
Step 2
Insert the encoder wire and brake
release wire (prepared by user).
Encoder wire
ontheoutsideofthecoveristhecap,andthemotor
connector part should be the boot.
4
Brake release wire
Connect the cover internal switch
connector and brake release
connector.
(prepared by user)
Store the joint inside the cover.
Boot
The cable leading from the brake release connector
should be prepared by the user.
Step 4
Switch connector and brake release
connector connection
2-27
Installation
2
2
Insert the motor wire.
5
Route the encoder wire.
Insert the encoder wire only through the hole for the
motorconnector,andpullitoutfromtheadjacent
cap hole.
Step 5
Encoder wire routing
Encoder wire
2
Installation
Encoder wire
Pull out from cap hole side.
2-28
6
Temporarily insert the motor cover.
Insert the motor cover so that the internal switch
does not interfere with the motor connector.
Pull the brake release wire and encoder wire out from
thegapnexttothemotorconnector.
Step 6
Temporary motor cover insertion
Motor cover
Motor
Internal switch
Cables removed when temporarily inserting cover
2-29
Installation
Pull out from gap.
2
7
Insert the cover so that the rubber on
the bottom fits in.
Step 7
Gap
There will be a gap when the cover catches on the
first clip.
8
2
Insert the cover so that the rubber on
the top fits in.
Gap
CAUTION
Inserttherubberalittleatatime,andavoidtryingtoforceit
in.Ifforcedin,therubberwillendupdeformed,makingit
difficulttoattachthemotorcover.
Installation
9
Gap at top of cover
Push in the motor cover from the rear.
The rubber at the bottom of the switch should
protrudeapproximately5mm,andtherubberatthe
topoftheswitchshouldprotrudeapproximately
1mm.
Gap
Gap at bottom of cover
Step 8
Insert the rubber.
Step 9
Push in the motor cover.
Motor cover
2-30
10
Adjust the motor cover position and
then secure with the M5 hex bolt(s).
Step 10
Motor cover attachment
Adjust the motor cover position and then screw in
twoM5hexboltstosecure.
Ensure that the motor cover has been securely
attached.
It will not be possible to insert the bolts if the motor
coverpositionandtappingpositionsfortheM5hex
bolts are not aligned.
2
M5 hex bolt
11
Attach the robot cable connector.
12
Attach the boot and cap to the motor
cover.
13
Attach the duct to the robot cable.
Step 12
Boot, cap attachment
Boot
Push the rubber in completely.
Insert the robot cable into the notch on the duct.
The cable can be inserted easily by inserting a thick
rod such as a flat screwdriver.
Cap
Step 13
Duct attachment
Duct
2-31
Installation
WARNING
CoNNECTTHEα-AxIS, β-AxISANDγ-AxISRoBoT
CABLESSoTHATTHEYMATCHTHERESpECTIvE
AxESATTHECoNTRoLLER(DRIvER).THERoBoT
WILLNoTopERATECoRRECTLY,RESULTINgIN
poSSIBLEDANgERIFTHECABLESARE
CoNNECTEDINCoRRECTLY.
14
Attach the bracket to the robot cable.
15
Insert the bracket in the boot.
16
Insert the boot in the duct.
Step 14
Bracket attachment
2
Bracket
Boot
Installation
2-32
Step 15
Bracket insertion
Step 16
Boot insertion
9.
Detaching or attaching the shafts, moveable base, and spring covers
9.1
Attaching the shafts, moveable base, and spring covers
CAUTION
Itisnecessarytoenterthesafetyenclosureinordertodetachorattachtheshafts,moveablebase,orspringcovers,andthereforethe
controller power must be turned off beforehand.
9.1.1
R6Y30110S03067NJ5 (3-axes specification)
1
Post a sign indicating that the robot
is being adjusted.
Step 3
Shaft attachment
Post a sign indicating that the robot is being adjusted
to prevent others from turning on the controller
power.
2
3
Depression
Enter the safety enclosure.
Attach the shafts.
Attach the shafts while ensuring to hook the shaft
plastic bearings onto the arm and moveable base link
balls. The link balls can be stretched by hand at the
end of the shaft as shown in the Fig.
The depression on the shafts for spring cover
attachment should face upward.
The moveable base attachment direction is as shown in
theFig.Referto"2.2Adjustingtheθ-axisorigin
position" in Chapter 3 for details.
CAUTION
By attaching the shafts with hands placed anywhere other
thantheshaftend,thejointbetweentheshaftandshaftend
maydeform,possiblyleadingtomalfunction.Ensureto
place hands on the end of the shaft as shown in the Fig. on
the right.
Take care not to pull the springs on the shafts too much.
Ifstretchedtoofar,thespringsmaynotreturntotheir
originalshape,possiblyleadingtomalfunction.
Link ball
Moveable base side
Arm side
Link ball
α-axis
2-33
Installation
Thereplacementprocedurefortheshafts,moveablebase,andspringcoversisthesameasthatfortheα,βandγ-axes.
2
4
2
Attach the spring covers.
Step 4
Spring cover attachment
Thereareatotalofsixspringcovers:oneatthearm,
and one at the moveable base for each of the three
axes.
The top and bottom positions of the spring covers are
fixed.
IftheshaftdirectioniscorrectatStep3,thecover
attached at the top will be wide as shown in the Fig.
The spring covers come as a top and bottom set when
shipped. Attach the covers so that they snap together
at the guide clips.
Spring cover attachment location
Installation
The top of the spring cover widens.
Spring cover top
Clip
Spring cover bottom
2-34
9.1.2
R6Y31110L03067NJ5, R6Y31110H03067NJ5 (4-axes specification)
WiththeR6Y31110L03067NJ5andR6Y31110H03067NJ5(4-axesspecification)robots,thecableprotrudesfromthe
α-axisshaft.
Shaft,moveablebase,andspringcoverattachmentisthesameasthatforthe3-axesspecificationrobot.
1
Post a sign indicating that the robot
is being adjusted.
Step 3
Shaft attachment
Post a sign indicating that the robot is being adjusted
to prevent others from turning on the controller
power.
Enter the safety enclosure.
Attach the shafts.
Attach the shafts while ensuring to hook the shaft
plastic bearings onto the arm and moveable base link
balls. The link balls can be stretched by hand at the
end of the shaft as shown in the Fig.
The depression on the shafts for spring cover
attachment should face upward.
The moveable base attachment direction is as shown in
theFig.Referto"2.2Adjustingtheθ-axisorigin
position" in Chapter 3 for details.
CAUTION
By attaching the shafts with hands placed anywhere other
thantheshaftend,thejointbetweentheshaftandshaftend
maydeform,possiblyleadingtomalfunction.Ensureto
place hands on the end of the shaft as shown in the Fig. on
the right.
Take care not to pull the springs on the shafts too much.
Ifstretchedtoofar,thespringsmaynotreturntotheir
originalshape,possiblyleadingtomalfunction.
2
Installation
2
3
Depression
Link ball
Moveable base side
Arm side
Link ball
α-axis
2-35
4
2
Installation
5
Attach the spring covers.
Thereareatotalofsixspringcovers:oneatthearm,
and one at the moveable base for each of the three
axes.
The top and bottom positions of the spring covers are
fixed.
IftheshaftdirectioniscorrectatStep3,thecover
attached at the top will be wide as shown in the Fig.
below.
The spring covers come as a top and bottom set when
shipped. Attach the covers so that they snap together
at the guide clips.
Step 4
Spring cover attachment
Spring cover attachment location
Route the arm side cable and insert it
into the plastic block on the arm.
Route the cables along the α-axisarmtotherobot
base while trying not to bend them too much.
The top of the spring cover widens.
Spring cover top
Clip
Spring cover bottom
Step 5
2-36
Cable routing at arm side
6
Secure the attached cable with the
plastic block.
Step 6
Securing the cables
There are a total of three securing locations. Use two
tiebandsforeachlocation,andsecurethecables
with the plastic block as shown.
CAUTION
Be careful not to pull the cables too much. If pulled too
much,thecablesmaybedamaged,resultinginpossible
robot malfunction.
Attach the cable at the moveable base
side to the motor cover.
Installation
7
2
Plastic block
Ensure that the moveable base and α-axisshaft
attachment directions are correct.
Align the arrow on the cable connector with the
connector mark on the motor cover and attach.
Attach both the motor cable and encoder cable to
their respective connectors.
Tie band
Step 7
Cable attachment at moveable base side
2-37
9.2
Detaching the shafts, moveable base, and spring cover
The detachment procedure is the opposite of that for attachment.
CAUTION
Itisnecessarytoenterthesafetyenclosureinordertodetachorattachtheshafts,moveablebase,orspringcovers,andthereforethe
controller power must be turned off beforehand.
2
1
Installation
2
3
Post a sign indicating that the robot
is being adjusted.
Step 3
Spring cover removal
Post a sign indicating that the robot is being adjusted
to prevent others from turning on the controller
power.
Enter the safety enclosure.
Remove the spring covers.
Spring cover attachment location
Thereareatotalofsixspringcovers:oneatthearm,
and one at the moveable base for each of the three
axes.
Thereisatopspringcoverandbottomspringcover,
with the top cover being wider.
The spring covers are held together with clips on the
inside.
Pull the bottom cover down at the arm side and pull
the top cover up at the moveable base side to remove
the spring cover.
Top cover
Clip
CAUTION
Use both hands when removing the spring covers. Use one
hand for removal and the other to stop the bottom cover
falling.
Ifthespringcoverfallsandisdamaged,therobotmay
operate abnormally.
4
Bottom cover
Remove the shafts.
Arm side
Remove the shafts from the arm and moveable base
link balls.
Whendoingso,thelinkballscanbestretchedby
hand at the end of the shaft as shown in the Fig. on
the right.
Whenremovingtheshaftsfromthemoveablebase,
disconnecttheθ-axisrobotcablefromthemotor
beforehand.
CAUTION
Remove the spring covers before removing the shafts. The
spring covers may be damaged if work is carried out without
removing them.
Take care not to pull the springs on the shafts too much.
Ifstretchedtoofar,thespringsmaynotreturntotheir
originalshape,possiblyleadingtoabnormalrobot
movement.
If the shafts are removed from the moveable base without
firstdisconnectingtheθ-axiscablefromthemotor,thecable
maybestretchedanddamaged,leadingtopossible
malfunction.Furthermore,takecarenottodropthe
moveable base.
Base side
Step 4
Shaft removal
Link ball
2-38
Chapter 3 Robot settings
Contents
1.
Overview
3-1
2.
Adjusting the origin
3-2
2.1
Adjusting the α, β and γ-axis origin position
3-3
2.2
Adjusting the θ-axis origin position (4-axes specification only)
3-6
3.
Setting the soft limits
3-8
3.1
Setting the α, β and γ-axis soft limits
3-8
3.2
Setting the θ-axis soft limits
3-8
1.
Overview
R6Y3robotoriginpositionsettingisperformedattheoMRoNfactory.
Specify the controller settings while referring to the controller user's manual.
The following describes the safety precautions to be observed when making various settings.
3-1
3
Robot settings
CAUTION
• Readandunderstandthecontentsofthischaptercompletelybeforeattemptingtosettherobot.
• placeaconspicuoussignindicatingtherobotisbeingadjusted,topreventothersfromtouchingthecontrollerswitchoroperation panel.
• Ifasafetyenclosurehasnotyetbeenprovidedrightafterinstallationoftherobot,ropeofforchainoffthemovementrangearound themanipulatorinplaceofasafetyenclosure,andobservethefollowingpoints.
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.
• Refertothecontrolleruser'smanualifperforminganoperationcheckaftersetting.
2.
Adjusting the origin
TheR6Y3usesacalibrationtooltomechanicallyadjusttheoriginpositionoftheα,β,γandθ-axes.Besuretoadjust
the origin position in the following cases.
1. If the origin position is lost after disconnecting the robot cable connecting the controller with robot
2.Iftheoriginpositionislostafterdisconnectingtheθ-axiscablesfromtheθ-axismotorcoverconnectorsandcontrollerside
robot cable connector.
3.Ifthemotorisreplaced(samereasonasabove)
4.Ifanyoftheaxisarmsareremoved
3
Robot settings
CAUTION
• Ifanyoftheabovesituationsoccurafterpurchasingtherobot,itisnecessarytoadjusttheoriginposition(s)usingthecalibration tool.(Therobotoriginpositionsareadjustedatthefactory.)
• Alwaysusethecalibrationtooltoperformoriginpositionadjustment.Ifadjustedwithoutusingthecalibrationtool,thepositionwill
shift,resultinginabnormalrobotoperation,leadingtorobotdamageandpossiblebodilyinjury.
This manual describes the origin position adjustment method using the calibration tool.
3-2
2.1
Adjusting the α, β and γ-axis origin position
Theα,βandγ-axisoriginpositionsareshownintheFig.below.
Adjusteachaxistoitsrespectiveoriginpositionsusingthecalibrationjig.
α, β, γ-axis origin positions
155
3
°
120
120
°
Do not attach
tubing to θ-axis
cable.
Robot settings
Eyebolts (3 locations)
45
22
(673)
799
120
25
(1067)
(46)
Detailed drawing of
installation surface
A
45°
30°
Rc1/8
65
49
4-M5×0.8 depth 8
20 depth 3
.31.5
P.C.D
15.75±0.02
45°
Joint 6
42
View A
5H7 +0.012
depth 10
0
3-3
Calibration tool (α, β and γ-axis)
3
Robot settings
1
Post a sign indicating that the robot
is being adjusted.
Post a sign indicating that the robot is being adjusted
to prevent others from turning on the controller
power.
2
3
Enter the safety enclosure.
Secure the calibration tool to the
base.
Secure the end of the calibration tool to the jig
attachmentholesonthebasewiththeM12hex
socket head bolts provided.
ThearmismovedatStep5,andifithitsthe
calibrationtoolatthattime,temporarilysecurethe
tool,movethearmtoapositionabovethetoolat
Step5,applythebrake,securethetool,andthen
perform Steps 4 and 5.
4
Release the motor brake for α-axis.
CAUTION
Whenperformingoriginpositionadjustment,releasethe
brakeoneaxisatatime.Neverreleasethebrakeforallthree
axesatthesametime.
Doingsowillresultinadropinoriginpositionaccuracy,
leading to malfunctions.
3-4
Step 3
Securing the calibration tool
M12 hex socket head bolt
Calibration tool
5
Move the arm slowly until the link
ball on the end of the arm contacts
the top of the calibration tool.
6
7
Apply the motor brake for α-axis.
Step 5
Position link ball against tool.
Calibration tool
Remove the calibration tool from the
base.
BylooseningtheM12hexsocketheadboltonthe
endofthecalibrationtool,thetoolcomesawayfrom
the arm link ball. Confirm this and then remove the
calibration tool.
8
3
Perform the procedure in Steps 3 to 7
for the γ and β-axes also.
Calibration tool
Robot settings
Link ball
3-5
2.2
Adjusting the θ-axis origin position (4-axes specification only)
Theθ-axisoriginpositionreferenceisthepositioninwhichthetoolflangedowelholeisfacingtheα-axis.
Theaxisisadjustedtothereferencepositionwhenshippedfromthefactory,however,thepositionmayshiftslightly.
Wheninstallingtherobotforthefirsttime,itisnecessarytousethecalibrationtooltoadjusttheoriginposition.
CAUTION
Thetoolflangeisfixedon3-axesrobotsandthereforeitisonlynecessarytoattachthemoveablebaseinthecorrectdirection.
Referto"9.1Attachingtheshafts,moveablebase,andspringcovers"inChapter2fordetailsonattachingthemoveablebase.
Withthe4-axesrobot,itisnecessarytoadjusttheθ-axis origin origin position in addition to attaching the moveable base in the correct
direction.
The θ-axisoriginpositionshouldgenerallyneverbechanged.Ifchanged,theaxismaynolongermoveintherightdirection.
3
Robot settings
1
Post a sign indicating that the robot is being adjusted.
2
3
Enter the safety enclosure.
Post a sign indicating that the robot is being adjusted to prevent others from turning on the controller power.
Secure the calibration tool.
Theθ-axisoriginpositionisthepositioninwhichthetoolflangedowelholeisfacingtheα-axis.
θ-axis origin position
Tool flange
Dowel hole
α-axis
4
3-6
Align the θ-axis calibration tool pin with the tool flange dowel hole.
5
Secure at the two tool flange M5 holes.
Securing the calibration tool
Dowel hole
Secure at these two points.
Knock-pin
3
θ-axis calibration tool
Robot settings
θ-axis calibration tool
3-7
3.
Setting the soft limits
WiththeR6Y3robot,bysettingtheplusandminussoftlimits[°]foreachaxiswiththeoriginposition(0°)asthe
reference,themovementrangeislimitedbysettingthemovementanglefromthe0°position.
Refer to the controller user’s manual when setting the soft limits.
CAUTION
Whenperformingactualchecksofthesoftlimitsettings,operatetherobotmanuallyfromoutsidethesafetyenclosure.
3
NOTE
Referto"1.2Externalviewanddimensions"inChapter5fortherobotmovementrange.
3.1
Setting the α, β and γ-axis soft limits
Robot settings
Set the soft limits within the movement range or within the range where the robot does not interfere with peripheral
equipment(butwithinmovementrange).Furthermore,reducethesoftlimitstonarrowthemovementrangewhenthe
actual movement range of the robot is small or it interferes with the peripheral equipment.
The reference values for the soft limits are as follows.
3.2
Plus direction soft limit [° ]
Minus direction soft limit [° ]
α-axis
110
-60
β-axis
110
-60
γ-axis
110
-60
Setting the θ-axis soft limits
Theθ-axishasnomechanicalstoppers.Settheθ-axisplusandminussoftlimits[°]tonarrowthemovementrange
whentheactualθ-axismovementrangeoftherobotissmallortherobotinterfereswiththeperipheralequipment.
3-8
Chapter 4 Periodic inspection
Contents
1.
Overview
4-1
2.
List of inspection items
4-2
1.
Overview
DailyandperiodicinspectionoftheoMRoNrobotisessentialinordertoensuresafeandefficientoperation.
periodicinspectionfortheR6Y3robotconsistsofdailyinspection,monthlyinspectionand6-monthinspection.
Be sure to perform the daily inspection before starting the robot and after completion of each day’s work.
Fordetailsoninspectionitems,see"2.Listofinspectionitems"inthenextsection.
Fordetailsonhowtoperformperiodicinspection,refertotheseparateR6Y3MaintenanceManual.
Beforestartingthemaintenancework,thoroughlyreadthefollowingcautionsandSafetyInstructionstostrictlyobserve
the instructions.
■ Cautions on daily inspection
■ Monthly and 6-month inspection precaution
payattentiontothefollowingifapplyinggreasetotheθ-axisassembly.
WARNING
pRECAUTIoNSWHENHANDLINggREASE:
• INFLAMMATIoNMAYoCCURIFTHISgETSINTHEEYES.USEFooDgREASE(CASSIDAgREASE,EpS2)WHEN
USINgTHERoBoTATFooDpLANTS.
BEFoREHANDLINgTHEgREASE,WEARYoURSAFETYgoggLESToENSURETHEgREASEWILLNoTCoMEIN
CoNTACTWITHTHEEYES.
• INFLAMMATIoNMAYoCCURIFTHEgREASECoMESINToCoNTACTWITHSKIN.BESUREToWEAR pRoTECTIvEgLovESTopREvENTCoNTACTWITHSKIN.
• DoNoTTAKEoRALLYoREAT.(EATINgWILLCAUSEDIARRHEAANDvoMITINg.)
• HANDSANDFINgERSMIgHTBECUTWHENopENINgTHECoNTAINER,SoUSEpRoTECTIvEgLovES.
• KEEpoUToFTHEREACHoFCHILDREN.
• DoNoTHEATTHEgREASEoRpLACENEARANopENFLAMESINCETHISCoULDLEADToSpARKSANDFIRES.
EMERgENCYTREATMENT:
• IFTHISgREASEgETSINTHEEYES,WASHLIBERALLYWITHpUREWATERFoRABoUT15MINUTESAND
CoNSULTApHYSICIANFoRTREATMENT.
• IFTHISgREASECoMESINCoNTACTWITHTHESKIN,WASHAWAYCoMpLETELYWITHSoApANDWATER.
• IFTAKENINTERNALLY,DoNoTINDUCEvoMITINgBUTpRoMpTLYCoNSULTApHYSICIANFoRTREATMENT.
DISpoSINgoFgREASEANDTHECoNTAINER:
• pRopERDISpoSALISCoMpULSoRYUNDERFEDERAL,STATEANDLoCALREgULATIoNS.TAKEAppRopRIATE
MEASURESINCoMpLIANCEWITHLEgALREgULATIoNS.
• DoNoTpRESSURIzETHEEMpTYCoNTAINER.pRESSURIzINgMAYCAUSETHECoNTAINERToRUpTURE.
• DoNoTATTEMpTToWELD,HEATUp,DRILLHoLESoRCUTTHISCoNTAINER.THISMIgHTCAUSETHE
CoNTAINERToExpLoDEANDTHEREMAININgMATERIALSINSIDEITToIgNITE.
4-1
4
Periodic inspection
CAUTION
• Adjustment,maintenanceandpartsreplacementrequirespecializedtechnicalknowledgeandskills,andalsomayinvolvehazards.
Thesetasksmustbeperformedonlybypersonswhohaveenoughandqualificationsrequiredbylocallawsandregulations.
• Donotperformrobotinspection,adjustments,repairorpartreplacementnotdescribedinthismanual.Thisworkrequiresspecialized
technicalknowledgeandskill,andmayalsoinvolveworkhazards.
• Wheninspectionisrequiredinsidethesafetyenclosure,alwaysturnoffthecontrollerandalsotheexternalswitchboard.
• Iftheinspectionormaintenanceprocedurecallsforoperationoftherobot,stayoutsidethesafetyenclosure.
• placeasignindicatingtherobotisbeinginspected,tokeepothersfromoperatingthecontrollerswitchoroperationpanel.
• Useonlythelubricantsspecifiedbyyourdistributor.
• Refertothecontrolleruser'smanualifperforminganoperationcheckafterinspection.
2.
List of inspection items
WARNING
REFERToTHEINSpECTIoNITEMSINTHESEpARATER6Y3MAINTENANCEMANUALWHENCARRYINgoUT
INSpECTIoN.
:Conduct. :Conductiftroubleisfoundasaresultofinspection. :Contactyourdistributor.
Location
Contents
Daily
6-month
Cleaning Adjustment Replacement
■ Inspection with the controller turned off
Robot cable
•Checkforscratch,dentorexcessivebend.
User cable and wiring
•Checkforscratchdent,orexcessivebend.
•Checkairpressure.
4
Regulator
Joint
Air tube
Solenoid valve
Air cylinder
•Checkforairleak.
•Checkdrain.
•Checkairfilterforcloggingordamage.
Periodic inspection
Exteriorofrobot
•Checkfordamage.
Plastic bearing
(linkballslidingsurface)
• Checkfordeformation,dents.
• Check that wear is 0.5mm or less.
Plastic bearing
(springmechanismplatesliding
surface)
• Checkfordeformation,breakage.
(Checkforcracks.)
Shaft
• Check for deformation.
Spring cover
•Checkfordamage.(Checkforguideclipbreakage.)
• Check for deformation.
• Check the spring to see if it is overstretched.
Inside spring cover
(spring,plate,etc.)
• Check for M3 screw looseness.
θ -axisassemblytool
• Check for any grease leaking from the coupling.
• Check whether pickup is possible.
(Dropinpickupforce)
Arm
• Checkfordeformation,damage.
Linkball
• Check for damage.
Major bolts and screws of robot
mainbody(thoseexposedtothe
outside)
•Checkforlooseness.(*1)
*1: Ifanyboltorscrewisloose,retightenit.(Fordetailsabouttighteningtorque,seethetablebelow.)
Bolt tightening torque
4-2
Bolt size
Tightening torque (kgfcm)
Tightening torque (Nm)
M3 set screw
20
2
M3
20
2
M4
46
4.5
M44-axesspecification α -axisarmcableclamp
20
2
M6
156
15.3
M8
380
37
M10
540
53
M12
1310
128
Chapter 5 Specifications
Contents
1.
Manipulator
5-1
1.1
Basic specification
5-1
1.2
External view and dimensions
5-2
1.3
Robot inner wiring diagram
5-4
1.4
Kinematics parameters
5-5
1.
Manipulator
1.1
Basic specification
Robot model
Working volume
R6Y30110S03067NJ5
R6Y31110L03067NJ5
R6Y31110H03067NJ5
x,Yaxis
Stroke
Ø1100mm
zaxis
Stroke
300mm(max.Ø1100mm)/450mm(centerØ580mm)
θaxis
Rotation range
±180°(defaultsetting,itcanbechanged)
Arm1,2,3
1000W
Servo motor
Rotationalaxis4
Repeatability
50W
x,Y,zaxis
*1
100W
±0.2mm
θaxis
±0.1°
Maximumpayload
Maximumthrough-put
3kg
*2
θaxistolerablemomentofinertia
150 CPM
*3
Usertubing(outerdiameter)
0.01kgm 2(50W)
0.035kgm 2(100W)
Ø6x1(moveabletool)
Travel limit
Weight
75kg
Specifications
IP67
Thisisthevalueataconstantambienttemperature.
With0.1kgpayload.Whenreciprocating305mminhorizontaland25mminverticaldirections.
Therearelimitstoaccelerationcoefficientsettings.
CpM:Cycleperminutes.Checkthenote2forthecycledefinition.
Noise level
Equivalentsoundlevelofrobot,Laeq(A)
(whenthereis10dBorlargerdifferencefromthebackgroundsoundpressurelevel)
73.7dB
5
Soft limit
Protection class
*1:
*2:
*3:
*4:
*4
Position where the noise level is measured
Robotsurface,1.0mfrommoveablerange,
height 1.6m
Note: The noise level can be higher when the robot is set nearby the objects that cause sound reflection.
5-1
1.2
External view and dimensions
R6Y30110S03067NJ5
°
120
120
°
155
Detailed drawing of
installation surface
(1067)
120
25
Eyebolts (3 locations)
(46)
5
65
.31.5
45°
30°
D
P.C.
15.75±0.02
45°
50
View A
5-2
40
4-M5×0.8 depth 8
Rc 1/8
Joint 6
17
45
(673)
799
Specifications
A
20 depth 3
5H7 + 0.012
depth 10
0
R6Y31110L03067NJ5, R6Y31110H03067NJ5
155
0°
12
12
0°
Do not attach
tubing to θ-axis
cable.
Eyebolts (3 locations)
5
45
22
Specifications
(673)
799
120
25
(1067)
(46)
Detailed drawing of
installation surface
A
4-M5×0.8 depth 8
20 depth 3
.31.5
.D
.C
P
45°
30°
Rc1/8
42
65
15.75±0.02
49
View A
5H7 +0.012
depth 10
0
150
6
45°
Joint
A
5-3
1.3
Robot inner wiring diagram
β-axis encoder
β-axis motor, brake
β-axis brake release switch
γ-axis brake release switch
α-axis encoder
γ-axis motor, brake
γ-axis encoder
α-axis motor, brake
α-axis brake release switch
5
Specifications
User tubing (air tube attachment port)
User tubing (tapered screw hole)
5-4
1.4
Kinematics parameters
Kinematics parameters
Rf
Lf
Lm
5
Kinematics parameters
[mm]
225 mm
Rm
62,5 mm
Lf
340 mm
Lm
840 mm
Specifications
Rm
Rf
Rf:Distance(radius)fromthecenterofthefixedframetothemotoraxis[mm]
Rm:Distance(radius)fromthecenterofthemovingframetotheconnectionpointoflink2[mm]
Lf:Lengthofthelink1[mm]
Lm:Lengthofthelink2[mm]
Software limit
Neg.
Pos.
Gearbox ratio
Software limit
[degree]
Positive software limit
110º
Main motor
1/33 (ratio)
Negative software limit
-60º
θ motor: Low inertia
1/9 (ratio)
θ motor: High inertia
1/21 (ratio)
5-5
Workspace parameters
Zu
Rcy
Rcy
Hcy
Hco
5
Rco
Workspace parameters
Specifications
Zu
650 mm
Rcy
550 mm
Hcy
300 mm
Rco
290 mm
Hco
150 mm
zu:Cylinderfrontposition(originpositionfromthez-axis)[mm]
Rcy:Cylinderradius[mm]
Hcy:Cylinderheight[mm]
Rco:Coneradius[mm]
Hco:Coneheight[mm]
5-6
Revision history
Amanualrevisioncodeappearsasasuffixtothecatalognumberonthefrontcovermanual.
Cat. No. I194E-EN-01
Revision code
The following table outlines the changes made to the manual during each revision.
Revision code
Date
01
June2013
Description
Original production
Authorized Distributor:
Cat. No. I194E-EN-01A
Note: Specifications subject to change without notice.
Printed in Europe