Stroke End Method; Yk500Xg, Yk600Xg, Yk600Xgh, Yk700Xg, Yk800Xg, Yk900Xg, Yk1000Xg - Yamaha YK-X Series User Manual

3-4-2

Stroke end method

The stroke end method is employed on the YK-XG series robots for the absolute
reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of
the Z-axis stroke, and it cannot be changed. The machine reference is factory-
adjusted at shipment, and readjustment is not necessary for normal use. The read-
justment in the following procedure is required, however, if the machine refer-
ence exceeds the tolerance range (33 to 67) of the absolute reset for any reason.
! CAUTION
The origin position may change due to machine reference adjustment. If it occurs,
you must set point data again.
3-4-2-1 YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG,
YK900XG, YK1000XG
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Place a sign indicating the robot is being adjusted, to keep others from oper-
ating the controller or operation panel.
3) Perform the Z-axis absolute reset.
To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures" in
Chapter 4. Make a note of the Z-axis machine reference value.
! CAUTION
Use the following procedure to display the adjustment machine reference
value.
When adjusting the machine reference value, always check the adjustment
machine reference value with this procedure.
(1) Press the MODE key.
(2) Press the F3 key to enter MANUAL mode.
(3) Press the F13 key (LOWER+F3) to select "ABS Reset".
(4) After the Z-axis absolute reset is complete, press the F10 (UPPER+F5) key
to display the adjustment machine reference value (%).
4) Turn off the controller.
The Z-axis motor brake is now working at the origin position.
5) Enter the safeguard enclosure.
4-27
CHAPTER 4 Adjustment