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2
Installa
tion
2-74
R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000 Z=400mm stroke type
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000 Z=400mm stroke type
Standard stopper
Additional stopper
Stopper position in Z-axis plus direction (*1)
412mm
412-L
1
mm
maximum movement position in Z-axis plus direction (*1)
400mm
400-L
1
mm
Stopper position in Z-axis minus direction (*1)
-6mm
L
2
-6mm
maximum movement position in Z-axis minus direction (origin position) (*1)
0mm
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 5mm intervals, such as
approximately 15mm, 20mm, etc.
After installing the mechanical stoppers, set the soft limits to the values shown below.
■
Soft limits after installing additional stoppers
Z=200mm stroke type
Soft limit (pulses)
Working envelope
Working envelope in Z-axis plus direction
16384 (200- (L
1
+L
2
)) /20
200- (L
1
+L
2
)mm
Working envelope in Z-axis minus direction
-819
-1mm
Z=300mm stroke type
Soft limit (pulses)
Working envelope
Working envelope in Z-axis plus direction
16384 (300- (L
1
+L
2
)) /20
300- (L
1
+L
2
)mm
Working envelope in Z-axis minus direction
-819
-1mm
Z=400mm stroke type
Soft limit (pulses)
Working envelope
Working envelope in Z-axis plus direction
16384 (400- (L
1
+L
2
)) /20
400- (L
1
+L
2
)mm
Working envelope in Z-axis minus direction
-819
-1mm
L
1
minimum value = 14, L
2
minimum value = 15
NOTE
Note that the stopper position may slightly deviate due to the part machining accuracy and mounting position.
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
KbF-m1781-000
1
Stopper block
2
KbF-m1788-100
1
Damper
3
91312-05016
2
Bolt
R6YXG500, R6YXG600, R6YXGS500, R6YXGS600
No.
Part No.
Q'ty
Remarks
Additional mechanical stopper parts in Z-axis minus
direction
4
KbF-m183A-000
1
Stopper block
(supplied bolt)
R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
No.
Part No.
Q'ty
Remarks
Additional mechanical stopper parts in Z-axis minus
direction
4
Kbp-m183A-000
1
Stopper block
(supplied bolt)
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...