Yamaha YP-X Series, Руководство пользователя

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CHAPTER 4 Installation
4-3
2 Setting the origin position
All models of the YP-X series use a position detector for absolute reset. The
origin position (“0” pulse position) is set by performing absolute reset. Once
absolute reset is performed, it is not needed when the power is turned on again.
However, absolute reset is required in the following cases. Be especially sure to
perform absolute reset for the case of “c” below when the robot has been shipped
from the factory.
Refer to the YAMAHA robot controller Instruction manual for detailed informa-
tion on performing absolute reset.
Perform absolute reset …
a. When an error involving the absolute limit occurred on an axis.
b. When a low battery (voltage) was detected in the battery for the driver
installed inside the controller.
c. When the controller and robot cable were removed. (The robot is shipped
in this state.)
d. When a change was made in the robot generation.
e. When the parameters were initialized.
f. When a change was made to a parameter relating to the origin return method,
origin return direction, axis polarity or origin shift.
g. When the motor was replaced (when motor cable connector was removed)
h. When the parameter data or all the data was sent to the controller via the
RS-232C.
The method for performing absolute reset is shown in this chapter.
!
CAUTION
After installing the robot, absolute reset must be performed again in the
case of “a” through “h” above. The robot must be moved to the origin posi-
tion before absolute reset can be performed. After the robot setup is com-
plete, select an origin position that will not interfere with the peripheral
equipment.
! CAUTION
After performing absolute reset, move the robot to a point already known
and verify that the origin position was set correctly.
In such cases, keep the robot movement at low speed, as much as possible.
! CAUTION
The point data must be set again when the origin position was changed.
! CAUTION
If the origin position was changed, then you must make new point data.
Do not attempt to use point data that was made before the origin position
was changed.