Yamaha YK-XR Series, Installation Manual, Page: 99 / 158

3
Robot settings
3-11
Changing the Z-axis and R-axis reference
■
values
9
Remove the cover.
Remove the cover while referring to
"12. Detaching or attaching the covers" in
Chapter 2.
Cover
Z-axis motor
R-axis motor
Step 9
Removing the cover
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w
WARNING
IF THE PULLEY COMES OFF FROM THE BELT, THE z-AxIS MAY DROP. BE SURE TO PROP THE z-AxIS WITH A SUPPORT
STAND.
BE CAREFUL NOT TO DROP THE z-AxIS AND ENTANGLE THE BELT DURING ADjUSTMENT.
0
Prop the spline or end effector with a support stand to prevent from dropping.
q
Loosen the bolts that secure the motor installation plate.
Step 11
Removing the plate
To adjust the R-axis reference value,
loosen the bolts at 3 locations.
Z-axis motor
R-axis motor
R-axis fixing plate
Z-axis fixing plate
To adjust the Z-axis reference value,
loosen the bolts at 3 locations.
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Shift the engagement between the motor pulley and belt tooth.
Shifting the belt engagement one tooth will change the machine reference value approximately 25%.
When shifting the pulley clockwise with the belt teeth left as they are, the reference value will increase.
Conversely, when shifting the pulley counterclockwise, the reference value will decrease.
Shift the engagement between the pulley and belt so that the Z-axis machine reference value enters a
range of 25 to 75% when compared to that confirmed in Step 4.
e
Tighten the plate mounting bolts.
At this time, tighten the bolts while applying an appropriate tension to the belt.
The appropriate tension can be checked as the vibration frequency is measured when the belt is
stretched. (Appropriate frequency: 50 to 53 Hz)
• Z-axis belt tension (Appropriate frequency): 259 to 333Hz
• R-axis belt tension (Appropriate frequency): 308 to 398Hz