Yamaha YK-XR Series, Руководство по установке

Страница: 93 / 158

3
Robot settings
3-5
2.2 Machine reference
The position detector of the YK-XR series uses a resolver that has five positions where the return-to-origin can
be performed per motor revolution.
The machine reference means the position relationship of the position where the robot detects the origin signal
to the position where the reset can be performed soon after detection (see the Fig. below). The machine
reference is expressed with the ratio of the minimum interval (A) between the positions where the return-to-
origin can be performed to the interval (B) between the positions where the return-to-origin can be performed
soon after the origin signal detection.
The machine reference value is displayed on the optional PBX screen (unit: %).
Machine reference value = B/A × 100(%)
c
CAUTION
The machine reference must be adjusted within a specified range to keep the repeatability precision of the
return-to-origin position (The machine reference is factory-adjusted prior to shipping). If the origin position is
changed, the machine reference must be readjusted.
For information on how to adjust the machine reference, refer to "2. Adjusting the origin” in this Chapter. When
the temperature of the robot joint sections is high immediately after the robot has been operated, the machine
reference value might be outside the specified range (25 to 75%). When checking or adjusting the machine
reference value, always make sure that the temperature of the robot joint sections has returned to room
temperature.
Recommended machine reference value: 25 to 75%
Machine reference
Origin signal detection
Origin signal
Resolver
Positions where
return-to-origin
can be performed
One motor revolution
B A
ON
OFF
23301-F0-00
Machine reference display on PBX screen
24301-F0-00