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CHAPTER 3 Installation
7 Limiting the Movement Range with X-Axis Me-
chanical Stoppers (R6YXX1200)
In the R6YXX1200 robot, the movement range can be limited by changing the
X-axis mechanical stopper positions. (The Y-axis mechanical stopper positions
are xed and cannot be changed.)
When the robot is shipped from the factory, the movement range is set to the
maximum. If the maximum movement range is too large compared to the actual
work range, or the manipulator might interfere with peripheral units, then the
movement range can be limited as outlined below.
The X-axis mechanical stopper positions may slightly differ depending on ma-
chining precision.
WARNING
ALWAYS TURN OFF THE CONTROLLER BEFORE CHANGING THE
MOVEMENT RANGE WITH MECHANICAL STOPPERS.
CAUTION
WHEN THE MECHANICAL STOPPERS ARE INSTALLED, THE SOFT
LIMITS MUST BE SET TO A POINT INSIDE THE MECHANICAL STOPPER
POSITIONS. (REFER TO "4 SETTING THE SOFT LIMITS" IN CHAPTER 4.)
CAUTION
WHEN INSTALLING THE MECHANICAL STOPPERS, USE CAUTION NOT
TO ALLOW THE MECHANICAL STOPPERS TO MAKE CONTACT WITH
THE URETHANE DAMPER (SEE FIG. 3-46 TO 3-47). IF THESE MAKE
CONTACT, THE URETHANE DAMPER MIGHT COME OFF.
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