Omron R6YXG500, Installation Manual

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3
Robot settings
3-36
3.2 Setting the Z-axis soft limits
CAUTION
Set the Z-axis soft limits from outside the safety enclosure.
The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual
working range of the robot is smaller than the maximum working envelope or the manipulator interferes with the
peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.
3.3 Setting the R-axis soft limit
CAUTION
Set the R-axis soft limits from outside the safety enclosure or after the emergency stop button has been pressed in the same manner as
the X-axis and Y-axis soft limits.
The R-axis has no mechanical stoppers. When the actual working range of the R-axis is small or it interferes with the
peripheral equipment, reduce the R axis plus (+) soft limit [pulse] and minus (-) soft limit [pulses] to narrow the
working envelope.
CAUTION
Overloads may occur if the soft limit is almost near the encoder pulse at the mechanical stopper and the operating point is used at the
edge of the movement range. Set the soft limit to the inner side of the mechanical stopper with an ample safety margin.
3.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses
The tables below are for calculating resolver pulses with respect to the X, Y and R-axis movement angles and to the
Z-axis movement distance for each robot. Use these figures as a guide to set the soft limits.
X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot
Robot Model X-axis Y-axis Z-axis R-axis
R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600
R6YXGS300, R6YXGS400
80 80 12mm 50
R6YXG500, R6YXG600
R6YXGS500, R6YXGS600
80 80 20mm 30
R6YXGH600, R6YXG700, R6YXG800, R6YXG900, R6YXG1000
R6YXGS700, R6YXGS800, R6YXGS900, R6YXGS1000
80 80 20mm 30
Operation angle/distance vs. number of resolver pulses
X, Y and R-axis speed reduction ratio
Z-axis
Speed ratio Number of resolver pulses per turn (360 degrees) Lead Number of resolver pulses per lead movement
30 491520 10mm 16384
50 819200 12mm 16384
80 1310720 20mm 16384
100 1638400 30mm 16384
105 1720320
121 1982464