Yamaha YK-XR Series, Installation Manual

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T-2
CONTENTS
YK-XR
Installation Manual
T-3
7. Limiting the movement range with X-axis and Y-axis mechanical stoppers 2-20
7.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-21
7.2 Robot overrun during impacts with X-axis or Y-axis mechanical stopper 2-23
8. Working envelope 2-24
9. Stopping time and stopping distance at emergency stop 2-27
10. Installing the user wiring and tubing newly 2-30
11. Passing the wiring and tubing in the user wiring/tubing through spline type 2-31
12. Detaching or attaching the covers 2-32
Chapter 3 Robot settings
1. Overview 3-1
2. Adjusting the origin 3-2
2.1 Return-to-origin method 3-3
2.1.1 Stroke end method 3-3
2.1.2 Mark method 3-4
2.1.3 Sensor method (X-axis, Y-axis) 3-4
2.2 Machine reference 3-5
2.3 Return-to-origin procedures 3-6
2.3.1 Stroke end method 3-6
2.3.2 Sensor method (X-axis, Y-axis) 3-7
2.4 Adjusting the machine reference value 3-9
2.4.1 Stroke end method 3-9
2.4.2 Mark method 3-13
2.4.2.1 Absolute reset in servo on state (re-reset) 3-14
2.4.2.2 Absolute reset in servo off state (re-reset) 3-16
2.4.2.3 Absolute reset in servo on state (new reset) 3-19
2.4.2.4 Absolute reset in servo off state (new reset) 3-21
2.4.3 Sensor method (X-axis, Y-axis) 3-23
3. Setting the soft limits 3-27
3.1 Setting the X-axis and Y-axis soft limits 3-27
3.2 Setting the Z-axis soft limits 3-28
3.3 Setting the R-axis soft limits 3-28
3.4 Relation between the X, Y, and R-axis movement angle, the Z-axis movement distance and the number of pulses 3-28
4. Setting the standard coordinates 3-29
4.1 Standard coordinate setting using a standard coordinate setup jig 3-30