Affixing The Stickers For Movement Directions And Axis Names - Yamaha YK-X Series User Manual

CHAPTER 4 Adjustment
6 Affixing the Stickers for Movement Directions
and Axis Names
The robot comes packed with stickers showing origin positions, movement direc-
tions and axis names as shown in Fig. 4-17. Using the following procedure, at-
tach these stickers in conspicuous points on the robot after changing the origin
position and installing peripheral equipment.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Move the robot to the 0 pulse position.
To move the axes to their "0" pulse positions, see "Chapter 4 Point trace
function" in the "YAMAHA Robot Controller User's Manual".
3) Turn off the controller.
4) Place a sign indicating the robot is being adjusted, to keep others from oper-
ating the controller switch.
5) Enter the safeguard enclosure.
6) Being careful not to move the origin positions, attach stickers at conspicuous
points on matching sides of components such as the robot arm of each axis,
base (robot pedestal) and end effector. Affix stickers nearby showing the axis
name and direction of movement. Use a cloth moistened with alcohol to re-
move grease from the surface where you will affix the stickers. After the
surface is dry, affix the stickers securely. (See Fig. 4-18)
WARNING
Affix the origin position stickers precisely on the origin positions. Align the direc-
tion of movement stickers with the jog direction and affix them correctly. Affix
each axis name sticker on the correct axis. Affixing the sticker at a wrong loca-
tion may cause faulty operation and hazardous situations.
(a) Origin position stickers
(b) Direction of movement and
axis name stickers
Fig. 4-17
4-38
A B
X Y
Z R