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R-axis
■
The R-axis has no mechanical stoppers.
CAUTION
Since the R-axis has no mechanical stoppers, make certain that the end effector wiring and tubing do not
become entangled during operation.
Robot overrun during impacts with mechanical stopper
■
The robot may overrun from the mechanical stopper position for some reason, such as deformation of the
mechanical stopper during impacts with mechanical stopper. Be aware that the end effector may interfere
with the robot main body and peripheral unit or the robot main body may interfere with the peripheral unit
due to overrun during impacts with mechanical stopper.
Maximum overrun amounts are listed below (for normal operation, maximum payload, maximum speed).
R6YXE400
R6YXE610 / R6YXE710
Note: Here, ° (deg.) is the overrun angle at the X-axis and Y-axis joints.
CAUTION
• If an impact occurs with the mechanical stopper and the stopper is deformed or broken, contact your distributor.
If the deformed or broken mechanical stopper is used continuously, this is hazardous. So, the defective mechanical
stopper needs to be replaced.
• After the robot strikes the Z-axis mechanical stopper, the stopper position may shift, and so check the stopper
position. If shifted, move the stopper to the correct position and refasten it securely by following the assembly
procedure.
11.2 Performance area
XE series has areas (performance areas) that are advantageous for CP operation. The performance area
is from the maximum radius of straight extension of the XY arm to 10mm in front. In areas outside the
performance area, vibration may occur during CP operation. If vibrations occur, lower the scalar MOVE L
acceleration coefficient [%] of the robot parameter or all axes of the acceleration coefficient [%] of the axis
parameter at the same ratio. The jog CP operation speed is also limited in areas outside this performance
area.
Performance area
X-axis
Y-axis
9°
1°
6°
5°
A
Z-axis
Upper end
Lower end
2mm
3mm
5mm
4mm
10mm
Performance area
3
23228-FV-00
3-39
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