Omron SCARA R6Y XE Series Installation Manual page 56

After installing the mechanical stoppers, set the soft limits to the values shown below.
Soft limits after installing additional stoppers
■
Z=200mm stroke type
Working envelope in Z-axis plus direction
Working envelope in Z-axis minus direction
L minimum value = 14 L
1
NOTE
The stopper position may slightly deviate due to the part machining accuracy and mounting position.
3
The following shows the additional parts (option).
Additional parts
■
Additional mechanical stopper parts in Z-axis
plus direction
Additional mechanical stopper parts in Z-axis
minus direction
3-32
minimum value = 15
2
No.
1
2
3
4
5
Soft limit (pulses)
1024 (200- (L +L ))
1 2
-1024
Part No. Q'ty
KBF-M1781-00 1
KBF-M1788-10 1
91312-05016 2
KFS-M1780-00 1
91312-05016 1
Working envelope
200- (L +L )
1 2
-1
Remarks
Stopper
Damper
Bolt
Stopper (upper)
Bolt