Yamaha YK-X Series User Manual page 4

[2] To set a position OTHER than the robot arm extended position (the
origin position adjusted at the factory prior to shipment) as the
origin position
1. Absolute reset
The YK-XG series robots only require the absolute reset to be performed once
when the robot is introduced. Once the absolute reset is performed, you do not
need to reperform it when the power is turned on next time. Set the origin
position while referring to absolute reset methods in "3. Adjusting the origin"
in Chapter 4 of this manual and in "Absolute Reset" of the "YAMAHA Robot
Controller User's Manual". Set the origin position with the absolute reset.
! CAUTION
Never enter the robot movement range once the robot servo is turned on as
this is extremely hazardous.
2. Affixing the origin position sticker
Set in emergency stop when absolute reset is complete, and immediately affix
the origin point sticker according to instructions in "6. Affixing Stickers for
Origin Positions, Movement Directions and Axis Names" in Chapter 4 of this
manual.
3. Setting the reference coordinates
Set the reference coordinates while referring to instructions in "5. Setting the
Reference Coordinates" in Chapter 4 of this manual and also to "Setting the
Reference Coordinates" in the "YAMAHA Robot Controller User's Manual".
Robot malfunctions (vibration, noise) may occur if the reference coordinates
are not set correctly.
Even though there is no problem with the robot, the following error messages are
issued when the robot and controller are connected and power first turned on.
(Actual error messages may differ according to how the robot and controller are
connected.)
Error messages issued when robot & controller are connected (RCX142)
17.81 : D?.ABS.battery wire breakage
17.83 : D?.Backup position data error 1
17.85 : D?.Backup position data error 2
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
2. If the X, Y or R axis rotation angle is small.
If the X, Y or R axis rotation angle is smaller than 5° so that it always moves in
the same position, an oil film is difficult to be formed on the joint support bear-
ing, possibly leading to damage to the bearing. In this type of operation, add a
movement so that the joint moves through 90° or more, about 5 times a day.
3. Do not remove the Z-axis upper-end mechanical stopper
Removing or moving the upper-end mechanical stopper attached to the Z-axis
spline can damage the Z-axis ball screw. Never remove or move it.
etc.