MYS450L
E1101000117GB01 31
Figure 14: Joint
θ
2 Mechanical Stops
1. Turn OFF the Controller.
2. Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and tighten it.
3. Turn ON the Controller.
4. Set the pulse range corresponding to the new positions of the mechanical stops.
5. Move the arm by hand until it touches the mechanical stops, and make sure that the arm
does not hit any peripheral equipment during operation.
6. Operate the joint changed at low speeds until it reaches the positions of the minimum and
maximum pulse range. Make sure that the arm does not hit the mechanical stops. (Check
the position of the mechanical stop and the motion range you set.)
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.
5.5.2 Setting the Mechanical Stops of Z
This method applies only to the Standard-model Robot MYS450L.
1. Turn ON the Controller and turn OFF the motors using the Motor OFF command.
2. Push up the shaft while pressing the brake release button.
Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be
removed. Push the shaft up to a position where the Z mechanical stop can be changed.
When you press the brake release button, the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold the shaft by hand while pressing the button.
Setting Angle +147,5° +145° +142° +130° +125° +100°
Pulse Value 2685156 2639645 2585031 2366578 2275556 1820445
Setting Angle -100° -125° -130° -142° -145° -147,5°
Pulse Value -1820445 -2275556 -2366578 -2585031 -2639644 -2685156
θ Screw
(fully threaded)
Number of screws Recommended
tightening torque
1 M10 × 20 1 screw / page 12740 Ncm
2 M8 × 10 3720 Ncm
Be sure to set the pulse range inside the positions of the
mechanical stop range.
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