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Yamaha YK250XGC Installation Manual: Limiting The Movement Range With X- And Y-axis Mechanical Stoppers

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4.

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

alWayS TURn Off ThE COnTROllER bEfORE ChangIng ThE MOvEMEnT RangE WITh MEChanICal STOPPERS.
When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical
stopper positions. for details about soft limits, see "3. Setting the soft limits" in Chapter 3 of the Installation Manual
for yk-xg standard model.
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.
Mechanical stopper position and maximum movement position
X-axis standard stopper position
Y-axis standard stopper position
(YK250XGC(P), YK350XGC(P))
Y-axis standard stopper position
(YK400XGC(P), YK500XGLC(P), YK600XGLC(P))
X-axis additional stopper position
Y-axis additional stopper position
(YK250XGC(P), YK350XGC(P))
Y-axis additional stopper position
(YK400XGC(P), YK500XGLC(P), YK600XGLC(P))
2
23210-HM-00
2-9

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