3-49
CHAPTER 3 Installation
8-3-2 Installing the plus direction stopper
Install the additional mechanical stopper in the Z-axis plus direction by follow-
ing the instructions shown in Fig. 3-46.
1) Prepare the hex wrench set and torque wrench.
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 Y-axis arm cover by referring to section 7 in Chapter 4.
6) Install the additional stopper q to the ball screw by tightening the bolts e to
the specied torque.
Alternately tighten the bolts a little at a time. There is no restriction on the
stopper position in the plus direction.
7) Open the urethane damper w, t it onto the ball screw, and bond it to the
upper surface of q using adhesive. Use ThreeBond 1739 instant adhesive as
the adhesive. Fully degrease the bonding surfaces before applying the ad-
hesive.
8) Go out of the safeguard enclosure.
9)
Check that no one is inside the safeguard enclosure, and then turn on the control-
ler.
10) Place a sign indicating the robot is being adjusted, to keep others from op-
erating the controller or operation panel.
11) Set the soft limit in the plus direction as shown in Table 3-6.
12) Stay outside the safeguard enclosure and check that the soft limits work to
stop the Z-axis unit at a point before the stopper position.
Depending on the accuracy and position of the stopper parts, the Z-axis
unit may not stop until it reaches the stopper. In this case, set the soft limits
smaller than the values shown in Table 3-6.
13) Check that the movement range is limited by the stoppers as desired.
14) Turn off the controller and enter the safeguard enclosure.
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