Omron R6Y Series User Manual

3-44
CHAPTER 3 Installation
8-2 Installing the X- and Y-axis additional mechanical stoppers
Install the X- and Y-axis additional mechanical stoppers by following the in-
structions shown in Fig. 3-45.
The X- and Y-axis mechanical stoppers can be installed separately in the plus
and minus directions.
Fig. 3-45 shows an example for installing the additional stopper as the plus di-
rection stopper, but the stopper can also be installed in the minus direction.
The following procedure is described using the X-axis plus direction stopper as
an example.
1) Prepare a hex wrench set.
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 tapped-hole plug screw from the X-axis arm.
6) Place the damper q between the bolt head w and nut e, and then tighten the
nut to the specied torque to secure the nut to the arm. Use the bolt and
nut shown in Table 3-5. When adding the stopper in only one direction of
the X-axis, do not remove the standard stopper. If it is removed, there will
be no stopper on the opposite side. Only when changing the stopper posi-
tion in both directions, remove the standard stopper to move its position.
Screw the plug screw into the tapped hole where the standard stopper was
installed.
7) Check that the movement range is limited by the stoppers as desired.
8) Go out of the safeguard enclosure.
9) Check that no one is inside the safeguard enclosure and then turn on the
controller.
10) Set the soft limit in the X-axis plus direction as shown in Table 3-6.
(When the stopper was installed in the minus direction, set the soft limit in
the minus direction.)
11) Stay outside the safeguard enclosure and check that the maximum soft lim-
its work to stop the X-axis arm at a point before the stopper position. De-
pending on the accuracy and position of the stopper parts, the X-axis arm
may not stop until it reaches the stopper.
WARNING
WHEN ADDING THE STOPPER IN ONLY ONE DIRECTION, DO NOT
REMOVE THE STANDARD STOPPER. IF IT IS REMOVED, THERE WILL
BE NO STOPPER ON THE OPPOSITE SIDE. (THE X-AXIS STANDARD
STOPPER WORKS AS THE STOPPER IN BOTH PLUS AND MINUS
DIRECTIONS.)

Omron R6Y Series Specifications

General

Brand	Omron
Model	R6Y Series
Category	Robotics
Language	English