Yamaha YK-XR Series, Installation Manual

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Chapter 3 Robot settings
Contents
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 3-2 7
3.2 Setting the Z-axis soft limits 3-2 8
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 3-2 8
4. Setting the standard coordinates 3-29
4.1 Standard coordinate setting using a standard coordinate setup jig 3-30
5. Affixing the stickers for origin positions,
movement directions, and axis names 3-3 2