Yamaha YK-XR Series, Installation Manual

Page: 119 / 158

3
Robot settings
3-31
9
Put the X-axis arm in contact with
the X-axis standard coordinate
setting jig.
Put the X-axis arm in contact with the
standard coordinate setup jig as shown in
the figure. At this time, make a note of the
X-axis position pulse value displayed on
[CURRENT].
Putting the X-axis arm in contact with the
X-axis standard coordinate setting jig
Step 9
23310-FK-00
0
Enter the axis parameter "ARM
LENGTH".
Enter the following values (arm length
values) in the axis parameter "ARM LENGTH"
A1 and A2.
A1 (X-axis arm length) A2 (Y-axis arm length)
225 175
q
Enter the axis parameter "OFFSET
PULSE".
Enter the values shown on the right in the
axis parameter "OFFSET PULSE".
Entering the “Offset pulse” values
Step 11
Note) Round off the decimal part of the A2 value.
A1= X-axis position pulse value you have made a note of in step 9
2
A2=
+
Y-axis position pulse value you have
made a note of in step 8 (clockwise) Y-axis position pulse value you have
made a note of in step 8 (counterclockwise)
23304-FK-00
w
Remove the standard coordinate
jig.