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Turn off the controller.
1
Place a sign indicating the robot is
2
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from touching the
controller switch.
Enter the safety enclosure.
3
2
Secure the bolt.
4
Check that the movement range is
5
limited.
Go out of the safety enclosure.
6
Turn on the controller.
7
Check that no one is inside the safety
enclosure, and then turn on the controller.
Set the X-axis soft limits in the plus
8
direction.
When the stopper is installed in the minus
direction, set the soft limits in the minus direction.
c
CAUTION
Whether or not the X-axis stops at a position before
the stopper limited by the soft limit must be
checked from the outside of the safety enclosure.
Check that the X-axis stops firmly.
9
Whether or not the X-axis stops at a position
before the stopper limited by the maximum
soft limit must be checked from the outside
of the safety enclosure.
n
NOTE
The X-axis may not stop at a position before the
stopper due to the stopper part accuracy or
position. If this happens, decrease the value while
referring to the Table
previously.
2-22
23213-FK-00
"■
Soft limits" described
Step 4
Installing to the standard stopper
Plus
direction
Minus
direction
Y-axis standard stopper
X-axis standard stopper
Y-axis plus direction
additional stopper
X-axis plus direction
additional stopper
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