Omron R6YXGLC250, Installation Manual, Page: 65 / 136

2
Installa
tion
2-15
4. Limiting the movement range
with X- and Y-axis mechanical stoppers
WARNING
ALWAYS TURN OFF THE CONTROLLER BEFORE CHANGING THE MOVEMENT RANGE WITH MECHANICAL STOPPERS.
CAUTION
When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical stopper positions. For
details about soft limits, see "3. Setting the soft limits" in Chapter 3 of the Installation Manual for XG standard model.
If the working envelope during robot work is smaller than the maximum working envelope range or if the robot
interferes with peripheral units, the movement range is limited. (When the robot is shipped from factory, the movement
range is set to the maximum level.)
The movement range can be limited by shifting the X-axis and Y-axis mechanical stopper positions. Follow the steps
below to limit the movement range.
The following shows the mechanical stopper positions and movement range.
136°
108°
Mechanical stopper position and maximum movement position
R6YXGLC(P)250, R6YXGLC(P)350, R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600
131°
X-axis standard stopper position
119°
X-axis additional stopper position
Y-axis standard stopper position
(R6YXGLC(P)250, R6YXGLC(P)350)
Y-axis additional stopper position
(R6YXGLC(P)250, R6YXGLC(P)350)
146°
Y-axis standard stopper position
(R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600)
108°
Y-axis additional stopper position
(R6YXGLC(P)400, R6YXGLC(P)500, R6YXGLC(P)600)