Yamaha YK-XR Series, Installation Manual

Page: 94 / 158

3
Robot settings
3-6
2.3 Return-to-origin procedures
2.3.1 Stroke end method
w
WARNING
SERIOUS INjURY MAY OCCUR FROM PHYSICAL CONTACT WITH THE ROBOT DURING OPERATION. NEvER ENTER WITHIN
THE ROBOT MOvEMENT RANGE DURING RETURN-TO-ORIGIN.
The Z-axis and R-axis perform the return-to-origin in the stroke end method at the same time.
The operation procedure using the PBX is described below.
n
NOTE
• When pressing the key on the execution confirmation screen, the execution of the return-to-origin is canceled.
• For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual".
1
Turn on the controller.
Check that no one is inside the safety
enclosure, and then turn on the controller.
2
Place a sign indicating the robot is
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating the
controller or operation panel.
3
Display the "ORIGIN RTN (TRQ/
SENS)" screen on the PBX
(operation
→
return-to-origin).
24304-F0-00
Return-to-origin mode screen Step 3-4
4
Select an axis whose return-to-
origin is performed.
Use the cursor keys ( / ) to select an
axis number whose return-to-origin is
performed.
n
NOTE
As the return-to-origin operations of the Z-axis and
R-axis are performed simultaneously, you can
select either axis number 3 or 4.
The execution confirmation screen will pop up.
Return-to-origin
Step 5
5
Perform the return-to-origin.
The return-to-origin execution confirmation
screen pops up.
Check that there are no obstacles within the
movement range, and then press . To
cancel the return-to-origin, press . After
the return-to-origin has been completed,
press
to return to the "ORIGIN RTN (TRQ/
SENS)" screen.
24304-F0-00
Machine reference value
Step 6
6
Check the status and machine
reference value.
“Status” and “Ref.” (machine reference) are
displayed on the "ORIGIN RTN (TRQ/SENS)"
screen.
Check that the status is "OK" and that the
machine reference value is within the return-
to-origin tolerable range (25 to 75%).
24305-F0-00