Omron R6Y Series, Руководство пользователя

Страница: 89 / 231

3-49
CHAPTER 3 Installation
8-3-2 Installing the plus direction stopper
Install the additional mechanical stopper in the Z-axis plus direction by follow-
ing 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.
6) Install the additional stopper q to the ball screw by tightening the bolts e to
the specified torque.
Alternately tighten the bolts a little at a time. There is no restriction on the
stopper position in the plus direction.
7) Open the urethane damper w, fit it onto the ball screw, and bond it to the
upper surface of q using adhesive. Use ThreeBond 1739 instant adhesive as
the adhesive. Fully degrease the bonding surfaces before applying the ad-
hesive.
8) Go out of the safeguard enclosure.
9) Check that no one is inside the safeguard enclosure, and then turn on the control-
ler.
10) Place a sign indicating the robot is being adjusted, to keep others from op-
erating the controller or operation panel.
11) Set the soft limit in the plus direction as shown in Table 3-6.
12) Stay outside the safeguard enclosure and check that the soft limits work to
stop the Z-axis unit at a point before the stopper position.
Depending on the accuracy and position of the stopper parts, the Z-axis
unit may not stop until it reaches the stopper. In this case, set the soft limits
smaller than the values shown in Table 3-6.
13) Check that the movement range is limited by the stoppers as desired.
14) Turn off the controller and enter the safeguard enclosure.