Yamaha YK-XR Series, Installation Manual

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3
Robot settings
3-3
2.1 Return-to-origin method
Two kinds of return-to-origin methods, stroke end method and mark method are available for the YK-XR series
as standard methods. The sensor method is optional.
2.1.1 Stroke end method
In the stroke end method, return-to-origin is performed at a position slightly backed off from the stroke end,
after the axis whose return-to-origin is performed contacts the mechanical stopper and stroke end is detected.
w
WARNING
SERIOUS INjURY MIGHT OCCUR FROM PHYSICAL CONTACT WITH THE ROBOT DURING OPERATION. NEvER ENTER
WITHIN THE ROBOT MOvEMENT RANGE DURING RETURN-TO-ORIGIN.
c
CAUTION
• Before starting return-to-origin operation, move the X-axis to a position on the plus side from the origin position
(See Fig. Below), and the Y-axis to a position on the minus side, so that the robot is positioned in a right-handed
system as shown in Fig. below. When the return-to-origin operation starts, the X-axis will move to the minus side
and the Y-axis will move to the plus side. After pushing against the mechanical stopper, the axes will return
slightly, and the return-to-origin will be completed.
• When performing the return-to-origin of the Z-axis or R-axis, the return-to-origin operations of the Z-axis and
R-axis are
automatically performed continuously
. So, pay special attention to the interference between
the tip tool and robot or peripheral unit.
Default origin position
129°±3°
147°
±
3° 147°±3°
Plus side
Plus side
Minus side Minus side
23001-FK-00
c
CAUTION
The X and Y-axes will move to the positions shown in Fig. below during return-to-origin, so make sure that the tool
on the end, the robot and the peripheral devices do not interfere. The maximum tolerable load radius (when
load is cylindrical object) is shown in Fig. below. If return-to-origin is performed with a load larger than this radius
installed on the R-axis, the base and load could interfere.
X and Y-axis maximum movement position during detecting origin position by mechanical stroke end
Maximum
tolerable
load radius
*1
*1
最大許容負荷半径※1
R24
106°
154°
Y-axis additional stopper X-axis additional stopper
R24
134°
154°
134°
R126
120°
When the additional stopper is installed and the return-to-origin in the stroke end method is performed,
it is necessary to change the origin shift amount of the axis, on which the additional stopper is installed.
*1 Load is a cylindrical object.
Maximum tolerable
load radius*1
Maximum tolerable
load radius*1
最大許容負荷半径※1
Maximum tolerable
load radius*1
Maximum tolerable
load radius*1
R126
Maximum
tolerable
load radius
23314-FK-00