Omron R6YXG500, Installation Manual

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2
Installa
tion
2-71
17
Set the soft limits.
See the Table " n Soft limits after installing additional stoppers".
The soft limit in the minus direction is already set by default to the value shown in the Table " n Soft limits after installing
additional stoppers".
18
Check that Z-axis stops firmly.
Whether or not the Z-axis stops at a position before the stopper by the soft limit must be checked from the outside of the
safety enclosure.
NOTE
The X-axis may not stop at a position before the stopper due to the stopper part accuracy or position. If this happens, increase the value
while referring to the Table "
n Soft limits after installing additional stoppers" described previously.
19
Check that the movement range is limited.
20
Turn off the controller.
21
Enter the safety enclosure.
22
Reattach the Y-axis arm cover.
8.1.2 Installing the plus direction stopper
Follow the steps below to install the additional stopper in the Z-axis plus 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.
Remove the cover while referring to "13. Detaching or attaching the covers" in Chapter 2.
Installing the plus direction stopper
Z-axis plus direction
additional stopper (1)
Remove
the cover.
Urethane damper (2)
Minus direction
Plus direction
Bolt (3)