![background image](http://html1.mh-extra.com/html/yaskawa/motoman-mys450l/motoman-mys450l_operating-and-maintenance-instructions-manual_3252846031.webp)
31
Figure 14: Joint
θ
2 Mechanical Stops
1. Turn OFF the Controller.
2. Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and tighten it.
3. Turn ON the Controller.
4. Set the pulse range corresponding to the new positions of the mechanical stops.
5. Move the arm by hand until it touches the mechanical stops, and make sure that the arm
does not hit any peripheral equipment during operation.
6. Operate the joint changed at low speeds until it reaches the positions of the minimum and
maximum pulse range. Make sure that the arm does not hit the mechanical stops. (Check
the position of the mechanical stop and the motion range you set.)
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.
5.5.2
Setting the Mechanical Stops of Z
This method applies only to the Standard-model Robot MYS450L.
1. Turn ON the Controller and turn OFF the motors using the Motor OFF command.
2. Push up the shaft while pressing the brake release button.
Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be
removed. Push the shaft up to a position where the Z mechanical stop can be changed.
When you press the brake release button, the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold the shaft by hand while pressing the button.
Setting Angle
+147,5°
+145°
+142°
+130°
+125°
+100°
Pulse Value
2685156
2639645
2585031
2366578
2275556
1820445
Setting Angle
-100°
-125°
-130°
-142°
-145°
-147,5°
Pulse Value
-1820445
-2275556
-2366578
-2585031
-2639644
-2685156
θ
Screw
(fully threaded)
Number of screws
Recommended
tightening torque
1
M10 × 20
1 screw / page
12740 Ncm
2
M8 × 10
3720 Ncm
Be sure to set the pulse range inside the positions of the
mechanical stop range.
NOTE
Содержание MOTOMAN MYS450L
Страница 24: ...24 E1101000117GB01 MYS450L 5 2 Part Names and Working Axes 1 2 3 5 4 6 7 15 14 13 12 11 10 9 8 15 Back View...
Страница 26: ...26 E1101000117GB01 MYS450L 5 3 Dimensions 4 5 12 1 200 6 7 8 9 10 3 11 Dimensions mm...
Страница 40: ...40 E1101000117GB01 MYS450L 8 Electrical Equipment Specification 8 1 Signal cable BASE ARM2...
Страница 41: ...MYS450L E1101000117GB01 41 8 2 Power cable BASE ARM2...
Страница 60: ...60 E1101000117GB01 MYS450L...
Страница 61: ...MYS450L E1101000117GB01 61...