Yamaha YK120X, YK180X owner manual X and Y axes

CHAPTER 3 Installation

8Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope

Working envelope and mechanical stopper positions for the maximum working envelope of each robot are shown in "1-2 External view and dimensions" in Chapter 7.

An example using the YK120X is described below. (Refer to Fig. 7-1.) Other robot models are the same.

1)X and Y axes

Do not attempt operation outside the working envelope. The working enve- lope described in this manual is an area with the robot frontal reference.

2)Z-axis

Do not attempt work outside the working envelope. In particular, do not at- tempt work in the area between the working envelope and mechanical stop- per position. Mechanical stoppers are installed at both the upper and lower ends of the movement range.

WARNING

The robot cable, user wiring or tubing may be damaged if the robot load inter- feres with them resulting in hazardous robot malfunctions. Do not operate at points where the load may interfere with the robot cable, user wiring or tubing.

3)R-axis

The R-axis has no mechanical stoppers.

!CAUTION

Since the R-axis has no mechanical stoppers, make certain that the end effec- tor wiring and tubing do not become entangled during operation.

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