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3-42
CHAPTER 3 Installation
Table 3-6
YK250X(H), YK350X(H), YK400X(H)
Standard stopper
Additional stopper
Stopper position in X-axis plus/minus directions
Maximum movement position in X-axis plus/minus
132
˚
115
˚
105
˚
102
˚
R6YXH250, R6YXH350, R6YXH400
R6YXH250, R6YXH350
Standard stopper
Additional stopper
Stopper position in Y-axis plus/minus directions
Maximum movement position in Y-axis plus/minus directions
142
˚
140
˚
88
˚
85
˚
R6YXH400
Standard stopper
Additional stopper
Stopper position in Y-axis plus/minus directions
Maximum movement position in Y-axis plus/minus directions
154
˚
140
˚
88
˚
85
˚
R6YXH250, R6YXH350, R6YXH400
Standard stopper
Additional stopper
Stopper position in Z-axis plus direction
(
*1
)
Maximum movement position in Z-axis plus direction
(
*1
)
Stopper position in Z-axis minus direction
(
*1
)
Maximum movement position (origin position) in
Z-axis minus direction (*1)
158 mm
150 mm
-5 mm
0 mm
158-L
1
mm
100-L
1
mm
L
2
-5 mm
L
2
mm (*2)
*1: The Z-axis movement range and working envelope indicate the positions when the downward
direction relative to the initial Z-axis origin position is set as the plus direction
.
The actual origin position is lowered by L
2
and the movement range and stroke are reduced by L
1
+L
2
.
*2: Depending on the relation to the Z-axis machine reference adjustment, L
2
will be a position at
3 mm intervals, such as approximately 12mm, 15mm, etc
.
Soft limits after installing additional stoppers
YK250X(H), YK350X(H), YK400X(H)
Soft limit (pulses)
Working envelope
X-axis working envelope in plus direction
X-axis working envelope in minus direction
232107
-232107
102
°
-102
°
R6YXH250, R6YXH350, R6YXH400
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...