4-33
CHAPTER 4 Adjustment
3-4-3 Stroke end method
The stroke end method is employed on the X series robots for the absolute reset
of the Z-axis.
The origin position of the Z-axis is xed at the upper end of the Z-axis stroke,
and it cannot be changed.
The machine reference is factory-adjusted at shipment, and readjustment is not
necessary for normal use.
The readjustment in the following procedure is required, however, if the ma-
chine reference exceeds the tolerance range (26 to 74) of the absolute reset for
any reason.
3-4-3-1 R6YXH250, R6YXH350, R6YXH400, R6YXX1200
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller or operation panel.
3) Perform the Z-axis absolute reset.
To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures"
in Chapter 4.
4) Turn off the controller.
5) Enter the safeguard enclosure.
6) Prop the spline or end effector with a support stand to prevent the Z-axis
from dropping.
7) Remove the bolts securing the Z-axis motor (See Figs. 4-8 to 4-9) and then
remove the Z-axis motor.
CAUTION
THE POSITIONAL SHIFT WILL OCCUR AFTER ADJUSTING THE
MACHINE REFERENCE VALUE, SO POINT DATA SETTINGS ARE
REQUIRED AGAIN.
WARNING
INJURY CAN OCCUR IF HANDS OR FINGERS ARE SQUEEZED BETWEEN
THE DRIVE PULLEY AND BELT. ALWAYS TURN OFF THE CONTROLLER
AND USE CAUTION WHEN HANDLING THESE PARTS.
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