Changing the 2nd-axis (R-axis) Mechanical Ends

To change the 2nd-axis mechanical ends, first change the position of the mechanical stop bolt that was mounted from the factory, and then change the motion space of the R-axis with the teach pendant or WINCAPSIII.

Follow the procedure given below.

1

Turn the power switch of the robot controller to ON.

Set the mode selector switch of the teach pendant to MANUAL.

2

Press [F2 Arm] on the basic screen.

Move the 2nd axis (R-axis) to the range from 12° to 78° using the teach pendant.

3

Press the MOTOR key to turn the motor power OFF.

4

Remove the mechanical stop bolt and reinstall it to the desired position.

For available positions of the mechanical stop bolt, refer to "2nd-axis (R-axis) Mechanical End Change".

Tightening torque: 9.8 ±2.0 N▪m

Plated, hex. socket-head bolt M6x12 (one piece), strength class 10.9

5

Press the MOTOR key to turn the motor power ON.

Change the motion space of the R-axis, refer to "Changing the R-axis Motion Range Using the Teach Pendant" or "Changing the R-axis Motion Range Using WINCAPSIII"