Omron R6YXG500, Installation Manual

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2
Installa
tion
2-78
11
Set the soft limits.
Set the soft limits in the plus direction while referring to the calculation values shown in the Table " n Soft limits after
installing additional stoppers" described previously.
12
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 Z-axis may not stop at a position before the stopper due to the stopper part accuracy or position. If this happens, decrease the value
while referring to the Table "
n Soft limits after installing additional stoppers" described previously.
13
Check that the movement range is limited.
14
Turn off the controller.
15
Enter the safety enclosure.
16
Reattach the Y-axis arm cover.
WARNING
In THE CASE oF THE R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000, R6YXGS700, R6YXGS800,
R6YXGS900 And R6YXGS1000, THE pLUS dIRECTIon SToppER WILL bEComE A LoAd, And So IF THE TIp LoAd IS
0KG oR 1KG, THE Z-AXIS ACCELERATIon mUST bE REdUCEd AS SHoWn bELoW. IF noT REdUCEd, THE SERvICE
LIFE oF THE Z-AXIS dRIvE UnIT WILL dECREASE.
Tip load 0kg 1kg
Z-axis acceleration 90% 80%
8.2.3 Overrun amounts during impacts with Z-axis additional mechanical stopper
A urethane damper is installed to absorb the shock when an impact occurs with the mechanical stopper, so a certain
amount of overrun occurs when the robot strikes the mechanical stopper. Use caution and take overrun into account
since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with
the peripheral equipment. maximum overrun amounts are listed below (for normal operation, maximum payload,
maximum speed).
Robot model
Z-axis
Upper end Lower end
R6YXG500, R6YXG600
R6YXGS500, R6YXGS600
5mm 5mm
R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
5mm 5mm
CAUTION
After the robot strikes the Z-axis mechanical stopper, the stopper position may shift, and so check the stopper position. If shifted, move
the stopper to the correct position and refasten it securely by following the assembly procedure.