Limiting The Movement Range With X-Axis Mechanical Stoppers - Yamaha YK-X Series User Manual

CHAPTER 3 Installation
7 Limiting the Movement Range with X-Axis
Mechanical Stoppers
In the YK-XG Series, the movement range can be limited by changing the X-axis
mechanical stopper positions. (See Fig. 3-29.) The Y-axis mechanical stopper
positions are fixed and cannot be changed. When the robot is shipped from the
factory, the movement range is set to the maximum. If the maximum movement
range is too large compared to the actual work range, or the manipulator might
interfere with peripheral units, then the movement range can be limited as out-
lined below. The X-axis mechanical stopper positions may slightly differ depending
on machining precision.
WARNING
Always turn off the controller before changing the movement range with me-
chanical stoppers.
! CAUTION
When the mechanical stoppers are installed, the soft limits must be set to a
point inside the mechanical stopper positions. (Refer to "4 Setting the Soft Lim-
its" in Chapter 4.)
3-30