Absolute Reset Procedures; Sensor Method (X-Axis, Y-Axis, And R-Axis) - Yamaha YK-X Series User Manual

3-3

Absolute reset procedures

3-3-1

Sensor method (X-axis, Y-axis, and R-axis)

WARNING
Serious injury might occur from physical contact with the robot during opera-
tion. Never enter within the robot movement range during absolute reset.
The operation procedure using the MPB is described next. (Press the ESC key on
the MPB if you want to return to the preceding step.) See the "YAMAHA Robot
Controller User's Manual" for information on operating the robot controller.
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 touch-
ing the controller switch or operation panel.
3) Set the controller to MANUAL mode, if not in MANUAL mode.
4) Press the F13 (LOWER+F3) key to select "RST. ABS".
5) Select the axis for absolute reset. (X-axis: M1, Y-axis: M2, R-axis: M4)
To perform absolute reset on all axes, select "ALL" with the F11 (LOWER+F1)
key.
CAUTION
!
The Z-axis of the stroke end method first rises during the absolute reset of all
axes (default setting). Be careful that your fingers do not get pinched or crushed
by any sudden movement.
6) Check that the absolute reset axis must be positioned at the plus side of the
origin. (See Fig. 4-2.) If it is not at the plus side, then press the jog key to
move the target axis to the plus side.
7) Since the message "Reset ABS encoder OK?" is displayed, check that there
are not any obstacles in the robot movement range, and press the F4 key
(YES).
4-5
CHAPTER 4 Adjustment