Omron R6YXG500, Installation Manual

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2
Installa
tion
2-75
8.2.1 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.
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
Minus direction
stopper
Additional stopper (4)
Minus direction
Plus direction
5
Degrease the spline.
Be sure to degrease the inner diameter cylindrical surface of the additional stopper and the spline where the stopper is to be
installed.
6
Install the additional stopper.
Install the additional stopper (4) to the spline shaft by tightening the supplied bolts to the specified torque.
• Tightening torque: 15.3 nm (156 kgfcm)
Alternately tighten the bolts a little at a time.
NOTE
For the minus direction stopper position, depending on the relation to the Z-axis origin reference adjustment, L
2
stated in the " ■ Z-axis
stopper positions" table described previously will be a position at 5mm intervals, such as approximately 15mm, 20mm, etc.
7
Go out of the safety enclosure.
8
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
9
Place a sign indicating the robot is being adjusted.
Place a sign indicating the robot is being adjusted, to keep others from operating the controller and operation panel.
10
Perform the Z-axis absolute reset.
NOTE
For details about how to perform the Z-axis absolute reset, see "2.3 Absolute reset procedures" in Chapter 3.