Limiting The Movement Range With X-Axis And Y-Axis Mechanical Stoppers - Yamaha YK-XR Series Installation Manual

7. Limiting the movement range with X-axis and Y-axis mechanical stoppers

w
WARNING
ALWAYS TURN OFF THE CONTROLLER BEFORE CHANGING THE MOvEMENT RANGE WITH MECHANICAL STOPPERS.
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CAUTION
2
When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical
stopper positions. (Refer to "3. Setting the soft limits" in Chapter 3.)
If the working envelope during robot work is smaller than the maximum working envelope range or if the
robot interferes with peripheral units, the movement range is limited. (When the robot is shipped from
factory, the movement range is set to the maximum level.)
The movement range can be limited by shifting the X-axis and Y-axis mechanical stopper positions. Follow the
steps below to limit the movement range.
The following shows the mechanical stopper positions and movement range.
As option parts are ordered, and then they are installed, the movement ranges of the X-axis and Y-axis can be
narrowed.
n
NOTE
Note that the stopper position may slightly deviate due to the part machining accuracy and mounting position.
2-20
Mechanical stopper position and maximum movement position
X-axis standard stopper position
Y-axis standard stopper position
X-axis additional stopper
Y-axis additional stopper
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