Yamaha YK-XR Series, Installation Manual

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3
Robot settings
3-19
2.4.2.3 Absolute reset in servo on state (new reset)
w
WARNING
SERIOUS INjURY MIGHT OCCUR FROM PHYSICAL CONTACT WITH THE ROBOT DURING OPERATION. NEvER ENTER
WITHIN THE ROBOT MOvEMENT RANGE DURING ABSOLUTE RESET.
The operation procedure using the PBX is described below.
n
NOTE
• When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled.
• For details about how to opera te 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
Move to a position where the joint can be seen.
Move the robot to an arm position where the absolute reset is performed newly, and then move to a
position where the joint can be seen while holding the PBX. At this time, never enter the robot
movement range.
4
Display the "ORIGIN RTN (TRQ/SENS)" screen on the PBX (operation
→
return-
to-origin).
5
Display the "ORIGIN RTN (MARK)" screen.
Press (MARK) on the "ORIGIN RTN (TRQ/SENS)" screen.
6
Select an axis whose absolute reset is performed.
Use the cursor keys ( / ) to select an axis number whose absolute reset is performed, and then
press .
7
Perform the step movement.
Press the jog key to perform the step movement of the robot until the absolute reset position are
matched with each other.
c
CAUTION
There are multiple discrete positions where the absolute reset can be performed.
When moving the robot by pressing the jog key, all robot stop positions become absolute resettable positions.
8
Perform the absolute reset.
Press on the "ORIGIN RTN (MARK)" pop-up screen to complete the absolute reset.
After the absolute reset has been completed, the axis moves to the “0” pulse position.
9
Move to the all-axis 0 pulse position.
When the absolute reset has been completed, move the robot to the all-axis 0 pulse position. For details
about how to move to the 0 pulse position, refer to the "YAMAHA Robot Controller User's Manual".
c
CAUTION
Before affixing the origin position stickers, be sure to move the robot to the all axes "0" pulse position. If the robot
is not moved to this position, the next absolute reset may not be performed correctly.