Limiting Movement Range With X-Axis Mechanical Stoppers; Changing The X-Axis Mechanical Stopper Position - Yamaha YK-X Series User Manual

7. Limiting movement range with X-axis mechanical stoppers

In the YK-X series the movement range can be limited by changing the X-axis mechanical stopper positions. (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 outlined below.
2
w
WARNING
Always turn off the controller before changing the movement range with mechanical stoppers.
c
CAUTION
When the mechanical stopper positions are changed, the soft limits must be set to a point inside the mechanical
stopper positions. (Refer to "3. Setting the soft limits" in Chapter 3.)
c
CAUTION
The mechanical stopper positions may slightly differ depending on machining precision of the parts and the
installation position.
7.1
The X-axis mechanical stopper position can be changed by shifting the existing stopper position. Follow the
Steps below to change the position.
Prepare a set of hex wrenches.
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
Remove the X-axis mechanical
4
stopper that is secured as shown in
the diagram "Mechanical stopper
positions and movement range" on
the following page.
Move the mechanical stopper to the
5
position to which the movement
range is to be narrowed.
Tighten the mechanical stopper to
6
the specified tightening torque.
The specified tightening torque is shown in
the table on the right.
Check that the movement range is
7
limited by the mechanical stopper
that has been moved.
Go out of the safety enclosure.
8
Turn on the controller.
9
Check that no one is inside the safety
enclosure when turning on the controller.
2-48

Changing the X-axis mechanical stopper position

Robot model
YK500XC, YK600XC
YK700XC,YK800XC,YK1000XC
YK1200X
* Be sure to use the bolts supplied by YAMAHA.
Tightening Tightening
Bolt
torque torque
size
(kgfcm) (Nm)
M6 156 15.3
M8 380 37.2
M10 720 70.6