Omron XG Series Manual de usuario

ZX-T Series

Cat. No. I158E-EN-02A

R6Y - XGC/XGP series

INSTALLATION MANUAL

SCARA Robots

XG Series

CONTENTS XGC/XGP

Installation Manual

T- 1

Safety Instructions

1. Safety Information S-1

2. Signal words used in this manual S-2

3. Warning labels S-3

3.1 Warning labels S-3

3.1.1 Warning label messages on robot and controller S-3

3.1.2 Supplied warning labels S-6

3.2 Warning symbols S-7

4. Major precautions for each stage of use S-8

4.1 Precautions for using robots and controllers S-8

4.2 Design S-9

4.2.1 Precautions for robots S-9

4.2.2 Precautions for robot controllers S-9

4.3 Moving and installation S-10

4.3.1 Precautions for robots S-10

4.3.2 Precautions for robot controllers S-11

4.4 Safety measures S-13

4.4.1 Safety measures S-13

4.4.2 Installing a safety enclosure S-14

4.5 Operation S-15

4.5.1 Trial operation S-15

4.5.2 Automatic operation S-17

4.5.3 Precautions during operation S-17

4.6 Inspection and maintenance S-19

4.6.1 Before inspection and maintenance work S-19

4.6.2 Precautions during service work S-20

4.7 Disposal S-21

Emergency action when a person is caught by robot S-22

6. Cautionsregardingstrongmagneticelds S-22

7. Using the robot safely S-23

7.1 Movement range S-23

7.2 Robot protective functions S-24

7.3 Residual risk S-25

7.4 Special training for industrial robot operation S-25

Warranty 1

CONTENTS XGC/XGP

Installation Manual

T- 2

Introduction

Before using the robot (Be sure to read the following notes.) i

Introduction iii

Chapter 1 Functions

1. Robot manipulator 1-1

1.1 Manipulator movement 1-1

1.2 Part names 1-2

2. Robot initialization number list 1-4

Chapter 2 Installation

1. Robot installation conditions 2-1

1.1 Sucking from the base rear side of the clean room model 2-1

1.2

Protection ratings for moisture and dust on dust/drip proof models 2-2

1.2.1 Plug 2-2

1.2.2 Air purge piping 2-3

1.2.3 Exhaust port 2-4

2. Installation 2-5

2.1 Checking the product 2-5

2.2 Moving the robot 2-9

2.2.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-9

2.2.2

R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-10

3. User wiring and user tubing 2-11

4. Limiting the movement range with X- and Y-axis mechanical stoppers 2-15

4.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-18

4.1.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-18

4.1.2

R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-20

5. Limiting the movement range with Z-axis mechanical stopper 2-21

6. Working envelope and mechanical stopper positions for maximum working envelope 2-21

Installing the user wiring and tubing newly 2-22

CONTENTS XGC/XGP

Installation Manual

T- 3

8. Passing the user wiring and tubing through the spline 2-23

9. Detaching or attaching the covers 2-24

9.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 2-24

9.2 R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 2-29

10.Installingthetoolange 2-31

11.Permissible spline load 2-32

Chapter 3 Robot settings

1. Overview 3-1

2. Adjusting the origin 3-2

3. Standard coordinate setting using a standard coordinate setup jig 3-3

3.1 R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600 3-3

3.2 R6YXGP500, R6YXGP600, R6YXGHP600, R6YXGP700, R6YXGP800, R6YXGP900, R6YXGP1000 3-4

Chapter 4 Periodic inspection

1. List of inspection items 4-1

Chapter 5 Harmonic drive replacement period

1. Overview 5-1

2. Replacement period 5-2

Chapter 6

Torque limit designated Z-axis pushing action

1. Torque limit designated Z-axis pushing action 6-1

Chapter7 Specications

1. Manipulator 7-1

1.1 Basicspecication 7-1

1.2 External view and dimensions 7-4

1.2.1 R6YXGLC(P)250 7-4

1.2.2 R6YXGLC(P)350 7-6

1.2.3 R6YXGLC(P)400 7-8

1.2.4 R6YXGLC(P)500 7-10

1.2.5 R6YXGLC(P)600 7-12

CONTENTS XGC/XGP

Installation Manual

T- 4

1.2.6 R6YXGP500 7-14

1.2.7 R6YXGP600 7-16

1.2.8 R6YXGHP600 7-18

1.2.9 R6YXGP700 7-20

1.2.10 R6YXGP800 7-22

1.2.11 R6YXGP900 7-24

1.2.12 R6YXGP1000 7-26

Contents

1. Safety Information S-1

2. Signal words used in this manual S-2

3. Warning labels S-3

3.1 Warning labels S-3

3.1.1 Warning label messages on robot and controller S-3

3.1.2 Supplied warning labels S-6

3.2 Warning symbols S-7

4. Major precautions for each stage of use S-8

4.1 Precautions for using robots and controllers S-8

4.2 Design S-9

4.2.1 Precautions for robots S-9

4.2.2 Precautions for robot controllers S-9

4.3 Moving and installation S-10

4.3.1 Precautions for robots S-10

4.3.2 Precautions for robot controllers S-11

4.4 Safety measures S-13

4.4.1 Safety measures S-13

4.4.2 Installing a safety enclosure S-14

4.5 Operation S-15

4.5.1 Trial operation S-15

4.5.2 Automatic operation S-17

4.5.3 Precautions during operation S-17

4.6 Inspection and maintenance S-19

4.6.1 Before inspection and maintenance work S-19

4.6.2 Precautions during service work S-20

4.7 Disposal S-21

Emergency action when a person is caught by robot S-22

6. Cautions regarding strong magnetic fields S-22

7. Using the robot safely S-23

7.1 Movement range S-23

7.2 Robot protective functions S-24

7.3 Residual risk S-25

7.4 Special training for industrial robot operation S-25

Safety Instructions

S-1

1. Safety Information

Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing

various manipulative tasks. To ensure safe and correct use of OMRON industrial robots and controllers, carefully read

and comply with the safety instructions and precautions in this "Safety Instructions" guide. Failure to take necessary

safety measures or incorrect handling may result in trouble or damage to the robot and controller, and also may cause

personal injury (to installation personnel, robot operator or service personnel) including fatal accidents.

Before using this product, read this manual and related manuals and take safety precautions to ensure correct handling.

The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that includes

OMRON robots, please take appropriate safety measures as required by the user’s individual system.

To use OMRON robots and controllers safely and correctly, always comply with the safety rules and instructions:

• For specific safety information and standards, refer to the applicable local regulations and comply with the

instructions.

• Warning labels attached to the robots are written in English, Japanese, Chinese and Korean. This manual is available

in English or Japanese (or some parts in Chinese). Unless the robot operators or service personnel understand

these languages, do not permit them to handle the robot.

• Cautions regarding the official language of EU countries:

For equipment that will be installed in EU countries, the language used for the manuals, warning labels,

operation screen characters, and CE declarations is English only.

Warning labels only have pictograms or else include warning messages in English. In the latter case, messages

in Japanese or other languages might be added.

It is not possible to list all safety items in detail within the limited space of this manual. So please note that it is

essential that the user have a full knowledge of safety and also make correct judgments on safety procedures.

Safety Instructions

S-2

2. Signal words used in this manual

This manual uses the following safety alert symbols and signal words to provide safety instructions that must be

observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand

the meaning of each symbol and signal word and then read this manual.

DANGER

THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR

SERIOUS INJURY.

WARNING

THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR

SERIOUS INJURY.

CAUTION

This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or damage to the

equipment.

NOTE

Explains the key point in the operation in a simple and clear manner.

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