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2
Installa
tion
2-61
The X-axis stopper position can be changed by shifting the existing stopper position.
The Y-axis stopper position can be changed by installing the supplied parts. The following describes the necessary
procedures.
NOTE
Note that the mechanical stopper position may slightly deviate due to the part machining accuracy.
Additionally, set the soft limits to the values shown below after the mechanical stopper position has been changed.
■
Soft limits
R6YXG500, R6YXG600, R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
X-axis stopper position
Soft limit (pulses)
Working envelope
±12°
±32768
±9°
±43°
±145635
±40°
±87°
±305834
±84°
±132° (maximum working envelope position)
±473315
±130°
R6YXGS500, R6YXGS600
X-axis stopper position
Soft limit (pulses)
Working envelope
±12°
±32768
±9°
±43°
±145635
±40°
±87°
±305834
±84°
±107° (maximum working envelope position for R6YXGS500)
±382294
±105°
±132° (maximum working envelope position for R6YXGS600)
±473315
±130°
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
X-axis stopper position
Soft limit (pulses)
Working envelope
±12°
±32768
±9°
±43°
±145635
±40°
±87°
±305834
±84°
±132° (maximum working envelope position)
±473315
±130°
R6YXG500, R6YXG600
Y-axis stopper position
Soft limit (pulses)
Working envelope
±147° (maximum working envelope position)
±527928
±145°
+107°
+378652
+104°
-102°
-360448
-99°
R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
Y-axis stopper position
Soft limit (pulses)
Working envelope
±152° (maximum working envelope position)
±546133
±150°
+121°
+429264
+118°
-114°
-415061
-111°
R6YXGS500
Y-axis stopper position
Soft limit (pulses)
Working envelope
±127° (maximum working envelope position)
±455112
±125°
+87°
+305835
+84°
-82°
-287631
-79°
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...