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3-46
CHAPTER 3 Installation
8-3
Installing the Z-axis additional mechanical stopper
8-3-1
Installing the minus direction stopper
Install the additional mechanical stopper in the Z-axis minus direction by fol-
lowing the instructions shown in Fig. 3-46.
1) Prepare the hex wrench set and torque wrench.
2) Turn off the robot controller.
3) Place a sign indicating the robot is being adjusted, to keep others from
touching the controller switch.
4) Enter the safeguard enclosure.
5) Remove the Y-axis arm cover by referring to section 7 in Chapter 4, and
move up the urethane damper.
6) Install the additional stopper r to the spline shaft by tightening the supplied
bolts to the specified torque.
Alternately tighten the bolts a little at a time. Depending on the relation to
the Z-axis machine reference adjustment, L
2
in the Z-axis minus direction
stopper in Table 3-6 will be a position at 3mm intervals, such as approxi-
mately 12mm, 15mm, etc.
7) Go out of the safeguard enclosure.
8) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
9) Place a sign indicating the robot is being adjusted, to keep others from op-
erating the controller or operation panel.
10) Perform the Z-axis absolute reset.
To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures"
in Chapter 4. Make a note of the Z-axis machine reference value.
(1) Press the MODE key.
(2) Press the F3 key to enter MANUAL mode.
(3) Press the F13 key (LOWER+F3) to select "ABS Reset".
CAUTION
USE THE FOLLOWING PROCEDURE TO DISPLAY THE ADJUSTMENT
MACHINE REFERENCE VALUE.
WHEN ADJUSTING THE MACHINE REFERENCE VALUE, ALWAYS
CHECK THE ADJUSTMENT MACHINE REFERENCE VALUE WITH THIS
PROCEDURE.
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Страница 218: ...7 6 CHAPTER 7 Specifications...
Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...