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ID : 4843

2nd-axis (R-axis) Mechanical End Change

From the factory, the mechanical stop bolt on the XR series robot is mounted at the 180° position of the 2nd axis (R-axis) as shown below.

To change the motion space of the 2nd axis (R-axis), first change the mechanical stop position. Changing the mechanical stop position and motion space is called a mechanical end change.

The 2nd axis (R-axis) of the XR series has four bolt holes for mechanical stops. Set up the mechanical stop positions and the motion space of the 2nd axis (R-axis) correctly, referring to the procedure shown below.

Viewed from A

Motion space (software motion limits) of 2nd-axis (R-axis) for each mechanical stop position
Mechanical stop position 180° 90° -90°
Positive direction 168° 78° 348° 258°
Negative direction -168° -258° 12° -78°

If you change the mechanical end positions of the 2nd axis (R-axis), you also need to configure the motion space of the 2nd axis on the controller.

 

ID : 4843

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