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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° | 0° | -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