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CHAPTER 3 Installation
7 Limiting the Movement Range with X-Axis
Mechanical Stoppers
(Excluding R6YXCH250, R6YXCH350, R6YXCH400)
In the XC series (excluding R6YXCH250, R6YXCH350, R6YXCH400), the
movement range can be limited by changing the X-axis mechanical stopper
positions. (The Y-axis mechanical stopper positions are fixed 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
machining precision.
To change the X-axis mechanical stopper positions, use the procedure below.
1) Prepare the following tools.
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 X-axis mechanical stoppers installed as shown in Fig. 3-67
and Fig. 3-68. Then reinstall the mechanical stoppers at the positions that
determine the desired movement range by tightening them to the torque
specied in Table 3-4.
6) Check that the movement range is limited by the mechanical stoppers as
desired.
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.)
WARNING
ALWAYS TURN OFF THE CONTROLLER BEFORE CHANGING THE
MOVEMENT RANGE WITH MECHANICAL STOPPERS.
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