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Setting Angle
+147,5°
Pulse Value
2685156
Setting Angle
-100°
Pulse Value
-1820445
Figure 14: Joint
1. Turn OFF the Controller.
2. Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and tighten it.
θ
Screw
(fully threaded)
1
M10 × 20
2
M8 × 10
3. Turn ON the Controller.
4. Set the pulse range corresponding to the new positions of the mechanical stops.
NOTE
5. Move the arm by hand until it touches the mechanical stops, and make sure that the arm
does not hit any peripheral equipment during operation.
6. Operate the joint changed at low speeds until it reaches the positions of the minimum and
maximum pulse range. Make sure that the arm does not hit the mechanical stops. (Check
the position of the mechanical stop and the motion range you set.)
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.
5.5.2
Setting the Mechanical Stops of Z
This method applies only to the Standard-model Robot MYS450L.
1. Turn ON the Controller and turn OFF the motors using the Motor OFF command.
2. Push up the shaft while pressing the brake release button.
Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be
removed. Push the shaft up to a position where the Z mechanical stop can be changed.
When you press the brake release button, the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold the shaft by hand while pressing the button.
+145°
+142°
+130°
2639645
2585031
2366578
-125°
-130°
-142°
-2275556
-2366578
-2585031
θ
2 Mechanical Stops
Number of screws
1 screw / page
Be sure to set the pulse range inside the positions of the
mechanical stop range.
E1101000117GB01
+125°
+100°
2275556
1820445
-145°
-147,5°
-2639644
-2685156
Recommended
tightening torque
12740 Ncm
3720 Ncm
MYS450L
31
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