Yamaha YK250XGC, Руководство по установке

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3
Robot settings
3-3
3. Standard coordinate setting using a standard coordinate setup jig
Use a standard coordinate setup jig (option) to set the standard coordinates more accurately.
The following describes how to set the standard coordinates using the standard coordinate setup jig.
Standard coordinate setup jig (option)
Part No. Name Q'ty
1 KDM-M1577-000 Pin 1
2 91312-04065 Bolt 1
1
Turn on the controller.
Check that no one is inside the safety
enclosure, and then turn on the controller.
2
Put the robot in the emergency
stop status.
Press the emergency stop button on the RPB
to put the robot in the emergency stop
status.
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 RPB.
5
Remove the plug bolt and seal
washer.
Put the robot in the posture with the
positional relationship between the Y-axis
arm and the X-axis arm as shown in the Fig.
on the right, and then remove the plug bolt
and seal washer.
Plug bolt
Enlarged hole
Hole
Seal washer
Removing the plug bolt
Step 5
23302-HM-00
6
Insert the pin (1).
1. Put the robot in the arm posture allowing
insertion of the pin, and make the X-axis
arm almost aligned with the Y-axis.
2. Adjust the arm positions so that the pin
can be inserted into the enlarged hole in
the Y-axis arm and the hole in the X-axis
arm without jamming, and then insert the
pin into the holes.
Bolt (2)
Pin (1)
Y-axis position pulse value
Step 6-8
23303-HM-00
7
Secure the pin (1) with the bolt (2).
Lightly tighten the bolt so that the pin does not
move.