Yamaha YK-XR Series, Installation Manual

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3
Robot settings
3-7
Machine reference value checking procedure
■
1. Use the cursor keys ( / ) on the initial screen to select Operation and press to display the
operation menu.
2. Select Origin Return and press
to display the “ORIGIN RTN (TRQ/SENS)" screen. The return-to-
origin completion status and machine reference are then displayed.
If the machine reference value is beyond the return-to-origin tolerable range, the next return-to-origin
may not be performed correctly.
In this case, make the adjustment while referring to "2. Adjusting the origin" in this Chapter.
2.3.2 Sensor method (X-axis, Y-axis)
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.
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).
Return-to-origin mode screen
Step 3-4
24302-F0-00
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.
The execution confirmation screen will pop up.
c
CAUTION
When absolute reset for all axes is performed,
the stroke end method Z-axis will rise first
(default setting), so take care that your hand
does not get pinched.
5
Check the axis position.
Return-to-origin possible range
Step 5
Origin position at shipment
Return-to-origin cannot be
performed from this area.
Minus
direction
Plus
direction
Return-to-origin
direction
Check that the axis whose return-to-origin is
performed is located at a position on the
plus side from the origin. (See also the figure
on the right.)
If not located on the plus side, move the
target axis to the plus side using the JOG
operation beforehand.
23306-FK-00