Yamaha YK-X Series User Manual page 112

CHAPTER 4 Adjustment
! CAUTION
The origin position factory-adjusted at shipment is not completely aligned with
the front face position of the robot. When introducing the robot, be sure to set
the soft limits with the number of pulses from the origin position (0 pulse posi-
tion).
(2) Setting the Z-axis soft limits
Make this setting from outside the safeguard enclosure. The Z-axis has me-
chanical stoppers fixed at the upper and lower ends of the Z-axis movement
range. When the actual working range of the robot is smaller than the maxi-
mum working envelope or the manipulator interferes with the peripheral equip-
ment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working
envelope.
(3) Setting the R-axis soft limit
To make this setting, set emergency stop just as for the X-axis and Y-axis, or
be sure to do this from outside the safeguard enclosure. The R-axis has no
mechanical stoppers. When the actual working range of the R-axis is small or
it interferes with the peripheral equipment, reduce the R axis plus (+) soft
limit [pulse] and minus (-) soft limit [pulses] to narrow the working enve-
lope.
! CAUTION
Overloads may occur if the soft limit is almost near the encoder pulse at the
mechanical stopper and the operating point is used at the edge of the move-
ment range. Set the soft limit to the inner side of the mechanical stopper with an
ample safety margin.
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