Yamaha YK-XR Series, Руководство по установке

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3
Robot settings
3-27
3. Setting the soft limits
On the YK-XR series, the working envelope during jog movement and automatic operation can be limited
by specifying a "+" soft limit [pulse] and a "-" soft limit [pulse]. The origin point (0 [pulse] )is used as the
reference to set the soft limits. The working envelope can be limited by specifying the number of pulses from
the 0 pulse position.
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CAUTION
If you want to check the soft limits by operating the robot, perform jog operation from outside the safety
enclosure.
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NOTE
Refer to the "YAMAHA Robot Controller User's Manual" for further details.
Also refer to "1.2 External view and dimensions" in Chapter 8 for the working envelope area.
3.1 Setting the X-axis and Y-axis soft limits
The X-axis and Y-axis have mechanical stoppers for protection of internal wiring outside their movement ranges.
The soft limits must be set within the working envelope or the inside of the interference position with peripheral
equipment (this must be within the working envelope). If the working envelope during robot work is small or if
the robot interferes with the peripheral equipment, narrow the working envelope.
Follow the steps below to set the soft limits.
1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
2
Press the emergency stop button.
Press the emergency stop button on the PBX to put the robot in the emergency stop status.
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NOTE
For details about emergency stop and how to cancel the emergency stop, see the "YAMAHA Robot Controller
User's Manual".
3
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.
4
Enter the safety enclosure while holding the PBX.
5
Move the X-axis and Y-axis arms by hand.
Move the X-axis and Y-axis to the mechanical stopper positions or to the point where interference with
the peripheral equipment occurs.
6
Note the pulse values.
Read the X-axis and Y-axis plus (+) and minus (-) direction pulses displayed on the PBX in step 6 and note
them.
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CAUTION
• Before cancelling the emergency stop, check from outside the safety enclosure that no one is inside the safety
enclosure.
• Set the soft limits from outside the safety enclosure.
7
Set the soft limits.
Set the soft limits to within the figure for the X-axis and Y-axis encoder pulses that you have noted in step 7.
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NOTE
For details about how to set the soft limits, see the "YAMAHA Robot Controller User's Manual".
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CAUTION
• The origin position factory-adjusted at shipment is not completely aligned with the front face position of the
robot. When installing the robot, be sure to set the soft limits with the number of pulses from the origin position
(0 pulse position).
• Overloads may occur if the soft limit is almost near the encoder pulse at the mechanical stopper and the
operating point is used at the edge of the movement range. Set the soft limit to the inner side of the mechanical
stopper with an ample safety margin.