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7.2
Robot overrun during impacts with X-axis or Y-axis 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).
X-axis
Y-axis
2°
1°
Note: Here, ° (deg.) is the overrun angle at the X-axis and Y-axis joints.
c
CAUTION
• If the X-axis or Y-axis mechanical stopper is deformed or damaged due to an impact on the stopper, please
contact your distributor. Continued use of the deformed or damaged stopper is very dangerous, and so it must
be replaced.
• When the robot strikes the X-axis or Y-axis mechanical stopper or another object, or when the R-axis collides
with an object, the speed reduction gears are locked while being meshed if the collision impact is large. If this
happens, please contact your distributor.
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