Stroke End Method (Z-Axis) - Yamaha YK-X Series User Manual

3-3-2

Stroke end method (Z-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 operat-ing 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 M3 (Z-axis).
6) 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).
7) After absolute reset is complete, check that the adjustment machine refer-
ence value displayed on the MPB is within the absolute reset tolerance range
(33 to 67).
CAUTION
!
Use the following procedure to display the adjustment machine reference
value. When adjusting the machine reference value, always check the ad-
justment machine reference value with this procedure.
(1) Press the MODE key.
(2) Press the F3 key to enter MANUAL mode.
(3) Press the F13 key (LOWER+F3) to select "ABS Reset".
(4) After the Z-axis absolute reset is complete, press the F10 (UPPER+F5) key
to display the adjustment machine reference value (%).
If the machine reference value is outside the absolute reset tolerance range,
then the next absolute reset may not be properly performed. In this case,
make the necessary adjustments by referring to "3-4 Changing the origin
position and adjusting the machine reference" in Chapter 4.
4-7
CHAPTER 4 Adjustment