Omron R6YXG500, Installation Manual

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2
Installa
tion
2-79
9. Working envelope and mechanical stopper
positions for maximum working envelope
Working envelope of each robot and mechanical stopper positions for the maximum working envelope are shown in
"1.2 External view and dimensions" in Chapter 8.
Here, those are described using the R6YXG500 as an example. Other robot models are the same.
■
X and Y axes
1. Do not attempt operation outside the working envelope. On the XG series, the origin can be set at a discrete position. The working
envelope described in this manual is an area with the robot frontal reference when no load is applied.
2. Interference positions where a load may touch the robot within the working envelope and their radii are shown in the figure.
CAUTION
• be careful not to allow the robot load to interfere with any part of the robot.
• The Z-axis spline may touch the base or the Y-axis arm may touch the wire harness before the robot strikes the X-axis or Y-axis
mechanical stoppers, so use caution.
Interference positions and radii in working envelope
145˚
R500
R105 (a)
130˚
260
165
R178
R71 (d)
145˚
130˚
R300
R25
R25 (c)
114˚
288
100
114˚
R55 (b)
Working envelope
Interference position
(a) Base front panel
(b) Base side panel
(c) Base rear panel
(d) Base corners
3. Interference positions where a load might touch the robot within the maximum movement range and their radii are shown in the
figure.
CAUTION
The Z-axis spline may touch the base or the Y-axis arm may touch the wire harness before the robot strikes the X-axis or Y-axis
mechanical stoppers, so use caution.