Omron R6Y Series User Manual

4-49
CHAPTER 4 Adjustment
8-2 Adjusting the belt tension (R6YXX1200)
Adjust the Z-axis and R-axis timing belts of the R6YXX1200 with the proce-
dure below.
1) Prepare the necessary tools.
• Push-pull scale
• Stay (See Fig. 4-17. This stay should be prepared by the user.)
• Hex wrench set
• Phillips-head screwdriver
• Scale
2) Turn off the controller.
3) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis arm front cover and side cover.
Refer to "7 Removing the Robot Covers" in Chapter 4 for removing the
covers.
6) Remove the bolts (M4×10L, 4 pieces) and then remove the harness clamp
stay from the Y-axis arm. (See Fig. 4-19.)
7) Prop the spline or end effector with a support stand to prevent the Z-axis
from dropping (when adjusting the Z-axis belt tension).
8) Adjust the belt tension by two people as follows.
Using the push-pull scale, one person applies a load perpendicular to the
middle of the belt. The other person checks the slack of the belt. (See Figs.
4-16 and 4-17.)
9) The correct load to be applied to the belt of each robot model and the
resulting slack are shown in Tables 4-6 and 4-7. When the load producing
the specied slack is within this range, no adjustment is required. If not,
adjust the tension with the following procedure.
(1) Z-axis belt adjustment
1. Loosen the bolt 1 shown in Fig. 4-19.
2. If the load producing the slack specied in Table 4-6 (step 7) above) is
smaller than the specied range, move the Z-axis motor in the direction
increasing the tension. If the load is greater than this, move it in the di-
rection reducing the tension. Then, retighten the bolt.
3. Recheck the belt tension using the same procedure in step 7). When the
load applied to produce the specied slack is within the specied range
of Table 4-6, the adjustment is okay. If not, repeat the above procedure
from steps 1 to 3.
WARNING
IF THE Z-AXIS PULLEY COMES OFF THE Z-AXIS BELT, THE Z-AXIS
DROPS CAUSING A HAZARDOUS SITUATION. TURN OFF THE
CONTROLLER AND BE SURE TO PROP THE Z-AXIS WITH A SUPPORT
STAND BEFORE BEGINNING ADJUSTMENT.

Omron R6Y Series Specifications

General

Brand	Omron
Model	R6Y Series
Category	Robotics
Language	English