Yamaha YK-XR Series, Руководство по установке

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3
Robot settings
3-23
2.4.3 Sensor method (X-axis, Y-axis)
Adjusting the X-axis machine reference
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CAUTION
• The origin position may change due to machine reference adjustment. If it occurs, you must set point data
again.
• When the return-to-origin direction is reversed, the origin position may not be the base front. When using the
standard soft limit, the axis may collide with the mechanical stopper. At this time, set the soft limit 2° or more
inward from the mechanical stopper while referring to "3. Setting the soft limits".
Follow the steps below to adjust the X-axis machine reference value.
Prepare a wrench for a width across flat of 13 mm.
1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
2
Perform the return-to-origin.
Perform the return-to-origin from outside the safety enclosure.
For details about how to perform the return-to-origin, refer to "2.3 Return-to-origin procedures" in this
Chapter.
3
Check the machine reference value.
If the machine reference value displayed on the PBX is not in the range between 25 and 75
(recommended range) after the return-to-origin has been completed, follow the steps below to adjust
the machine reference value.
4
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.
5
Turn off the controller.
6
Enter the safety enclosure.
7
Put a mark at the origin position.
Scribe a mark at the current origin position on the X-axis joint area of the robot.
At this time, be careful to prevent the origin position from deviating since the X-axis arm is touched.