Omron R6YXG500, Installation Manual

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2
Installa
tion
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7. Limiting the movement range with X-axis and Y-axis mechanical stoppers
WARNING
ALWAYS TURn oFF THE ConTRoLLER bEFoRE CHAnGInG THE movEmEnT RAnGE WITH mECHAnICAL SToppERS.
CAUTION
When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical stopper positions. (Refer
to "3. Setting the soft limits" in Chapter 3.)
If the working envelope during robot work is smaller than the maximum working envelope range or if the robot
interferes with peripheral units, the movement range is limited. (When the robot is shipped from factory, the movement
range is set to the maximum level.)
The movement range can be limited by shifting the X-axis and Y-axis mechanical stopper positions. Follow the steps
below to limit the movement range.
7.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600,
R6YXGS300, R6YXGS400
The following shows the mechanical stopper positions and movement range.
Mechanical stopper position and maximum movement position
X-axis standard stopper position
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600)
X-axis standard stopper position (R6YXGS400)
Additional stopper cannot be installed on the X-axis of the R6YXGS400.
X-axis standard stopper position (R6YXGS300)
Additional stopper cannot be installed on the X-axis of the R6YXGS300.
X-axis additional stopper
(R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600)
142°
127°
122°
119°