Yamaha YK250XGC, Руководство по установке

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3
Robot settings
3-4
8
Make a note of the Y-axis position
pulse value.
1. Enter "MANUAL>POINT" mode.
2. Lightly apply a clockwise torque to the
Y-axis while holding the X-axis arm.
3. Make a note of the Y-axis position pulse
value displayed on [POS] when the
torque is unloaded.
4. Lightly apply a counterclockwise torque
to the Y-axis while holding the X-axis arm.
5. Make a note of the Y-axis position pulse
value displayed on [POS] when the
torque is unloaded.
9
Determine the + direction of the
X-axis.
Move the X-axis arm in the direction that
you want to set as the + direction of the
X-axis. At this time, make a note of the X-axis
position pulse value displayed on [POS].
X-axis + direction
Step 9
+Y direction
+X direction
23303-F6-00
0
Enter the "11. Arm length [mm]"
values.
Enter the following values in M1 and M2 for
"11. Arm length [mm]" of axis parameters.
M1 (X-axis arm length) M2 (Y-axis arm length)
YK250XGC(P) 100.00 150.00
YK350XGC(P) 200.00 150.00
YK400XGC(P) 250.00 150.00
YK500XGLC(P) 250.00 250.00
YK600XGLC(P) 350.00 250.00
q
Enter the "12. Offset pulse" values.
Enter the values shown on the right in "12.
Offset pulse" of axis parameters.
Entering the “12. Offset pulse” values
Step 11
Note) Round off the decimal part of the M2 value.
M1= X-axis position pulse value you have made a note of in step 9
2
M2=
+
Y-axis position pulse value you have
made a note of in step 8 (clockwise) Y-axis position pulse value you have
made a note of in step 8 (counterclockwise)
23304-HM-00
w
Reattach the plug bolt and seal
washer.
1. Remove the pin and bolt.
2. Reattach the plug bolt and seal washer.