Installing The X-Axis/Y-Axis Additional Mechanical Stoppers - Yamaha YK250XGC Installation Manual

As option parts are ordered, and then they are installed, the movement ranges of the X-axis and Y-axis can be
narrowed.
The movement range of the X-axis can be narrowed by moving only the existing stopper.
Note that the stopper position may slightly deviate due to the part machining accuracy and mounting position.
After changing the mechanical stopper positions, set the soft limits to the values shown below.
2
Soft limits
■
Stopper position in X-axis plus or minus direction
Maximum movement position in X-axis plus or
minus direction
Stopper position in Y-axis plus or minus direction
Maximum movement position in Y-axis plus or
minus direction
Soft limits after setting additional stopper
■
Working envelope in X-axis plus direction
Working envelope in X-axis minus direction
Working envelope in Y-axis plus direction
Working envelope in Y-axis minus direction
4.1
Follow the steps below to install the X-axis/Y-axis additional mechanical stoppers.
Install the X-axis additional mechanical stopper by moving only the existing stopper.
Use the optional bolts and nuts listed below to install the Y-axis additional mechanical stopper.
Additional mechanical stopper parts in either one
direction of Y-axis plus or minus direction or both
directions (*1)
*1 : Only one set of parts shown above is used even when the stopper is added in either plus or minus direction or both directions.
(When adding the stopper in both directions, the existing stopper is also used after moving it.)
The X-axis and Y-axis mechanical stoppers can be individually installed in the X-axis and Y-axis plus and minus
directions.
The following describes how to install the mechanical stopper using the stopper in the X-axis and Y-axis plus
direction as an example. (The stopper in the minus direction can also be installed in the same manner.)
when adding the stopper in one direction of the y-axis, do not remove the standard stopper. if this stopper is
removed, the stopper on the opposite side is lost.
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.
2-10

Installing the X-axis/Y-axis additional mechanical stoppers

Standard stopper
131°
129°
136°（YK250XGC(P), YK350XGC(P)）
146°（YK400XGC(P), YK500XGLC(P), YK600XGLC(P)）
134°（YK250XGC(P), YK350XGC(P)）
144°（YK400XGC(P), YK500XGLC(P), YK600XGLC(P)）
Soft limit (pulses)
425984
-425984
385934
-385934
No. Part No.
1 KCY-M2197-000
2 90990-01J067
3 90189-00J106
4 90990-36J010
Additional stopper
119°
117°
108°
106°
Movement range
117°
-117°
106°
-106°
Q'ty Remarks
1 Stopper damper
1 Bolt
1 Nut
3 Seal washer