Omron R6YXG500, Installation Manual

Page: 127 / 330

2
Installa
tion
2-69
After installing the mechanical stoppers, set the soft limits to the values shown below.
■
Soft limits after installing additional stoppers
Soft limit (pulses) Working envelope
Working envelope in Z-axis plus direction 16384 (137.4-(L
1
+L
2
)) /12 137.4-(L
1
+L
2
)mm
Working envelope in Z-axis minus direction -683 -0.5mm
L
1
minimum value = 11, L
2
minimum value = 12
The following shows the additional parts (option).
■
Additional parts
No. Part No. Q'ty Remarks
Additional mechanical stopper parts in Z-axis plus
direction
1 KbE-m1780-000 1 Stopper block
2 KCY-m1789-000 1 Damper
3 91312-04012 2 Bolt
No. Part No. Q'ty Remarks
Additional mechanical stopper parts in Z-axis minus
direction
4 Kn3-m183A-100 1
Stopper block
(supplied bolt)
8.1.1 Installing the minus direction stopper
Follow the steps below to install the additional mechanical stopper in the Z-axis minus direction.
Prepare a hex wrench set and torque wrench.
1
Turn off the controller.
2
Place a sign indicating the robot is being adjusted
Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch.
3
Enter the safety enclosure.
4
Remove the Y-axis arm cover and move up the urethane damper.
Remove the cover while referring to "13. Detaching or attaching the covers" in Chapter 2.
Installing the minus direction stopper
Remove
the cover.
Move up the urethane
damper.
Minus direction
Plus direction
Z-axis minus
direction
additional
stopper (4)
Supplied bolt (4)