Omron SCARA R6Y-XC Series User Manual page 102

CHAPTER 3 Installation
4) Robot overrun during impacts with mechanical stopper
A urethane damper is installed to absorb the shock when an impact occurs
with the mechanical stopper, so a certain amount of overrun occurs when
the robot strikes the mechanical stopper. Use caution and take overrun
into account since the end effector may interfere with the robot body and
peripheral equipment or the robot body may interfere with the peripheral
equipment. Maximum overrun amounts are listed below (for normal opera-
tion, maximum load mass, maximum speed).
Robot model
R6YXCH250, R6YXCH350, R6YXCH400
R6YXC500, R6YXC600
R6YXC700, R6YXC800, R6YXC1000
Note: Here, ° (deg.) is the overrun angle at the X-axis and Y-axis joints.
1. When the robot strikes the X-axis or Y-axis mechanical stopper or
another object, or when the R-axis collides with an object, speed reduc-
tion gears are locked while being meshed if the collision impact is large.
If this happens, please contact our sales office or dealer.
2. When the robot strikes the Z-axis upper mechanical stopper excessively,
the urethane damper may be splayed beyond the retaining ring. In this
case, return the urethane damper to its original state.
X-axis Y-axis
10˚
6˚
6˚
3-64
Z-axis
Upper end
2˚ 2mm
2˚ 5mm
2˚ 5mm
Lower end
2mm
2mm
2mm