6-2 Equation for moment of inertia calculation .......................................3-28
6-3 Example of moment of inertia calculation .........................................3-31
6-4 Attaching the end effector ..................................................................3-33
6-5 Gripping force of end effector ............................................................3-37
7 Limiting the Movement Range with X-Axis
Mechanical Stoppers
(R6YXX1200)
........................................ 3-38
7-1 R6YXX1200 ......................................................................................3-39
8 Limiting the Movement Range with X-, Y- and Z-Axis
Mechanical Stoppers
(R6YXH250, R6YXH350, R6YXH400)
....... 3-41
8-1
Installing the X-, Y- and Z-axis additional mechanical stoppers
.............3-41
8-2 Installing the X- and Y-axis additional mechanical stoppers .............3-44
8-3 Installing the Z-axis additional mechanical stopper ...........................3-46
8-3-1 Installing the minus direction stopper ................................................3-46
8-3-2 Installing the plus direction stopper ...................................................3-49
8-4 Overrun amounts during impacts with X, Y and Z-axis additional
mechanical stoppers ...........................................................................3-50
9 Working Envelope and Mechanical Stopper Positions
for Maximum Working Envelope ........................................... 3-51
10
Stopping Time and Stopping Distance at Emergency Stop
............. 3-57
10-1 R6YXH250, R6YXH350, R6YXH400 ..............................................3-57
10-2 R6YXX1200 ......................................................................................3-65
CHAPTER 4 Adjustment
1 Overview .................................................................................. 4-1
2 Safety Precautions .................................................................... 4-1
3 Adjusting the origin .................................................................. 4-2
3-1 Absolute reset method ..........................................................................4-3
3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ........................................4-3
3-1-2 Mark method (X-axis, Y-axis, and R-axis) ...........................................4-4
3-1-3 Stroke end method (Z-axis) ..................................................................4-4
3-2 Machine reference ................................................................................4-5
3-3 Absolute reset procedures ....................................................................4-6
3-3-1 Sensor method (X-axis, Y-axis, and R-axis) ........................................4-6
3-3-2 Mark method (X-axis, Y-axis, and R-axis) ...........................................4-8
3-3-2-1 Absolute reset with servo on (re-reset) .............................................. 4-9
3-3-2-2 Absolute reset with servo off (re-reset) ........................................... 4-11
3-3-2-3 Absolute reset with servo on. (new reset) .......................................4-13
3-3-2-4 Absolute reset with servo off. (new reset) .......................................4-16
3-3-3 Stroke end method (Z-axis) ................................................................4-22
3-4
Changing the origin position and adjusting the machine reference
................4-23
3-4-1 Sensor method ....................................................................................4-24
3-4-1-1 R6YXH250, R6YXH350, R6YXH400 ........................................... 4-24
3-4-2 Mark method ......................................................................................4-32
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