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9.
The following stopper parts can be attached to limit the Z-axis movement range of the YK1200X.
w
2
WARNING
Read "6. Detaching or attaching the covers" in Chapter 3 before performing this operation.
w
WARNING
Always turn off the controller before changing the movement range with mechanical stoppers.
c
CAUTION
When the mechanical stoppers are installed, the soft limits must be set to a point inside the mechanical stopper
positions.
9.1
Proceed as follows to install the Z-axis minus direction mechanical stopper.
Prepare a set of hex wrenches.
Turn off the controller.
1
Place a sign indicating the robot is being adjusted.
2
Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch.
Enter the safety enclosure.
3
Remove the Y-axis arm cover.
4
Remove the cover as described in "6. Detaching or attaching the covers" in Chapter 3.
Degrease the bore cylindrical surface of the additional mechanical stopper.
5
Attach the additional stopper.
6
Using the additional stopper attachment bolts (M6 x 1, L=20), attach the additional stopper to the ball
screw. Gradually tighten the bolts alternately to the specified torque.
• Tightening torque: 15.2 Nm
Go out of the safety enclosure.
7
Turn on the controller.
8
Check that no one is inside the safety enclosure, and then turn on the controller.
2-52
Limiting the movement range with Z-axis
mechanical stoppers (YK1200X)
Drawing of mechanical stopper parts for Z-axis
2-M6 × 1
1.5
8
* Unless otherwise specified particularly,
the edges should be C0.5 or less and
the corners should be R0.2 or less.
Installing the minus direction stopper
2-R6
15
±0.1
: S45C
Material
Surface treatment : Triiron tetroxide coating
63221-FR-00
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