Yamaha YK-XR Series, Руководство по установке

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3
Robot settings
3-25
Adjusting the Y-axis machine reference
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c
CAUTION
The origin position may change due to machine reference adjustment. If it occurs, you must set point data again.
Follow the steps below to adjust the Y-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 Y-axis joint area of the robot.
At this time, be careful to prevent the origin position from deviating since the Y-axis arm is touched.