Setting The Standard Coordinates - Yamaha YK-X Series User Manual

CHAPTER 4 Adjustment
5

Setting the Standard Coordinates

CAUTION
!
If the standard coordinate settings are incorrect, the acceleration cannot be
optimized to match the arm position. This results in too short a service life,
damage to the drive unit, or residual vibration during positioning. In addition,
the cartesian coordinate accuracy will be impaired.
Setting the standard coordinates enables the following operations and functions.
1. Optimizes acceleration according to arm position during automatic op
eration.
2. Allows moving robot arm tip at right angles.
3. Allows using shift coordinates.
4. Enables commands such as linear interpolation and arm switching.
The procedure for setting standard coordinates and cautions are shown below.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Check that the soft limits are correctly set.
If not correctly set, adjust the soft limits while referring to the description of
"4 Setting the Soft Limits" in Chapter 4.
3) Place a sign indicating the robot is being adjusted, to keep others from oper-
ating the controller or operation panel.
4) Enter the safeguard enclosure while holding the MPB. Stay outside the robot
movement range at this time.
5) Make the standard coordinate settings while referring to methods for "Setting
the Standard Coordinates" as explained in the "YAMAHA Robot Controller
User's Manual".
Never enter within the robot movement range. The next section, "5-1 Stand-
ard coordinate setting using a standard coordinate setup jig (option)", de-
scribes how to set the standard coordinates more accurately using an optional
setup jig.
6) When the standard coordinate settings are complete, check the following points
from outside the safeguard enclosure.
1. Check that the robot arm tip can move at right angles in MANUAL opera-
tion (cartesian coordinates).
2. Check that the values nearly equal to the X-axis and Y-axis arm lengths
are entered in "Arm length" of the axis parameters.
If the above points are not satisfied, the standard coordinate settings are in-
correct, so make the standard coordinate settings again.
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