1st-axis Mechanical End Change

At the time of delivery from the factory, mechanical ends are set in the VLA series robots so that the stroke of the 1st axis is ±180°.
Changing the mechanical ends of the 1st axis by adding mechanical stoppers is called a mechanical end change.
When you use adjustable mechanical stoppers (option), you can limit the stroke of the 1st axis in units of 15° in both directions.

The figure below shows the mechanical stopper installation positions and the stroke.

Installation position	Negative direction		Positive direction
	from [°]	to [°]	from [°]	to [°]
1	-125	-180	-130	+180
2	-110		-115
3	-95		-100
4	-80		-85
5	-65		-70
6	-50		-55
7	-35		-40
8	-20		-25
9	-5		-10
10	+10		+5
11	+25		+20
12	+40		+35
13	+55		+50
14	+70		+65
15	+85		+80
16	+100		+95

Components

1. Adjustable mechanical stopper for 1st axis (quantity : 2)
2. Hexagon socket-head bolt M20 × 90mm, strength class: 12.9 (quantity : 4)

Mounting procedure

1

Place the adjustable mechanical stopper (A) in the desired position on the robot base.

2

Tighten two fixing bolts (B) with tightening torque 674Nm.

3

If you limit the opposite side as well, mount it in the same way.

Precautions

• Remove any fixtures / piping installed on the robot that interfere with the fixing part of the adjustable mechanical stopper.
• This option can limit the 1st axis stroke in two directions. If you want to limit the stroke in only one direction, use only one of two stoppers.