Yamaha YK-X Series, User Manual

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4-3
CHAPTER 4 Adjustment
3-1 Absolute reset method
3-1-1 Sensor method (X-axis, Y-axis, and R-axis)
In the sensor method, the target axis is automatically operated for the absolute
reset, and the absolute reset is performed at the position where the proximity
sensor provided on the target axis detects the detection area (dog). The absolute
reset in the sensor method can be executed with the teaching pendant (MPB), RS-
232C communication, and dedicated input.
WARNING
Serious injury might occur from physical contact with the robot during opera-
tion. Never enter within the robot movement range during absolute reset.
! CAUTION
The origin cannot be detected in any axis which is not positioned on the plus
side from the origin (see Fig. 4-2) before starting the return-to-origin operation.
(Factory setting at shipment.) In this case, press the STOP key to interrupt the
return-to-origin operation, move the target axis to the plus side of the origin,
and reperform the origin return operation. If the return-to-origin operation is not
interrupted, the robot will continue the operation and may collide with the me-
chanical stopper or a peripheral device. Since a mechanical stopper is not pro-
vided in the R-axis, the wiring and piping installed on the end effecter may be
wound up by the operation.
3-1-2 Stroke end method (Z-axis)
In the stroke end method, absolute reset is performed at a position slightly backed
off from the stroke end, after the Z-axis contacts the mechanical stopper and
stroke end is detected.
WARNING
Serious injury might occur from physical contact with the robot during opera-
tion. Never enter within the robot movement range during absolute reset.