Yamaha YK-XR Series, Installation Manual

Page: 116 / 158

3
Robot settings
3-28
3.2 Setting the Z-axis soft limits
c
CAUTION
Set the Z-axis soft limits from outside the safety enclosure.
The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When
the actual working range of the robot is smaller than the maximum working envelope or the manipulator
interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working
envelope.
c
CAUTION
Overloads may occur if the soft limit is almost near the encoder pulse at the mechanical stopper and the
operating point is used at the edge of the movement range. Set the soft limit to the inner side of the mechanical
stopper with an ample safety margin.
3.3 Setting the R-axis soft limits
c
CAUTION
Set the R-axis soft limits from outside the safety enclosure or after the emergency stop button has been pressed in
the same manner as the X-axis and Y-axis soft limits.
The R-axis has no mechanical stoppers. When the actual working range of the R-axis is small or it interferes
with the peripheral equipment, reduce the R axis plus (+) soft limit [pulse] and minus (-) soft limit [pulses] to
narrow the working envelope.
3.4 Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses
The tables below are for calculating resolver pulses with respect to the X, Y and R-axis movement angles and
to the Z-axis movement distance for each robot. Use these figures as a guide to set the soft limits.
X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot
X-axis Y-axis Z-axis R-axis
50 50 12mm 12
Operation angle/distance vs. number of resolver pulses
X, Y and R-axis speed reduction ratio
Speed ratio Number of resolver pulses per turn (360 degrees)
12 245760
50 1024000