Omron SCARA R6Y-XC Series User Manual page 101

Here, robot working envelope and mechanical stopper positions for the maxi-
mum working envelope are described using the R6YXC500 as an example.
Refer to Fig. 3-72 for the R6YXC500. Other robot models are the same.
1) X and Y axes
1. Do not attempt operation outside the working envelope. On the XC
series, the origin can be set at any position. The working envelope
described in this manual is an area with the robot frontal reference.
2. Interference positions where a load may touch the robot within the
working envelope and their radii are shown in the figure. Here, "a", "b"
and "c" are the respective interference positions with the base flange,
base rear panel, and base. Use caution not to allow the robot load to in-
terfere with any part of the robot.
3. Interference positions where a load might touch the robot when the robot
strikes the X-axis or Y-axis mechanical stoppers set for the maximum
working envelope and their radii are shown at the mechanical stopper
positions. Here, "b" and "c" are the respective interference positions
with the base rear panel and the base.
2) Z-axis
Do not attempt work outside the working envelope. In particular, do not
attempt work in the area between the working envelope and mechanical
stopper position. Mechanical stoppers are installed at both the upper and
lower ends of the movement range.
WARNING
THE ROBOT CABLE, USER WIRING OR TUBING MAY BE DAMAGED IF
THE ROBOT LOAD INTERFERES WITH THEM RESULTING IN
HAZARDOUS ROBOT MALFUNCTIONS. DO NOT OPERATE AT POINTS
WHERE THE LOAD MAY INTERFERE WITH THE ROBOT CABLE, USER
WIRING OR TUBING.
3) 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.
3-63
CHAPTER 3 Installation