Omron R6Y3 Series User manual

ZX-T Series

Cat. No. I194E-EN-02

Delta Robot

INSTALLATION

MANUAL

Washdown Delta Robot

R6Y3 Series

CONTENTS R6Y3

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 Contents of warning label messages S-3

3.1.2 Supplied warning label 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 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

Introduction

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

Introduction ii

CONTENTS R6Y3

Installation Manual

T- 2

Chapter 1 Functions

1. Robot manipulator 1-1

1.1 Manipulator movement 1-1

1.2 Part names 1-2

Chapter 2 Installation

1. Robot installation conditions 2-1

1.1 Installation environments 2-1

1.2 Installation base 2-2

2. Installation 2-5

2.1 Unpacking 2-5

2.2 Checking the product 2-5

2.3 Moving the robot 2-6

2.3.1 Installing on base prepared by user 2-6

2.3.2 Moving the robot to another installation base or removing the robot 2-7

2.4 Installing the robot 2-9

3. Protective bonding 2-11

4. Connection 2-12

4.1 Robot cable connection 2-12

4.2 Wiring the brake release cable connector 2-12

  

5. User tubing 2-15

6. Attaching the end effector 2-16

  

  

6.2 Equation for moment of inertia calculation 2-17

  

6.4 Attaching the end effector 2-22

7. Working envelope and maximum movement range 2-23

8. Detaching or attaching the covers 2-24

  

  

  

CONTENTS R6Y3

Installation Manual

T- 3

9. Detaching or attaching the shafts, moveable base, and spring covers 2-36

  

  

  

  

10.Drop detection cable option 2-42

  

10.2 Connecting the detection cable connector 2-43

10.3 Wiring the detection cable connector 2-46

  

  

  

  

  

  

  

Chapter 3 Robot settings

1. Overview 3-1

1.1 Kinematics 3-1

2. Adjusting the origin 3-3

  

  

3. Setting the soft limits 3-9

  

  

Chapter 4 Periodic inspection

1. Overview 4-1

2. List of inspection items 4-2

Chapter 5 Specications

1. Manipulator 5-1

  

  

1.3 Robot inner wiring diagram 5-4

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 Contents of warning label messages S-3

3.1.2 Supplied warning label 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 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

Safety Instructions

S-1

1. Safety Information





precautions stated in this "Safety Instructions" guide. Failure to take necessary safety measures or incorrect handling









refer to the Controller Manual.



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





  

instructions.

 

 

 

 

 

 

 

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



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

DANGER





WARNING





CAUTION



equipment.

NOTE



This manual suits for next models

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