Yamaha YK120X User Manual

4-30

The adjustment method for the R-axis machine reference is as follows.

1) Prepare the necessary tools.

•  Phillips-head screwdriver

2) Check that no one is inside the safeguard enclosure, and then turn on the

controller.

3) Perform the absolute reset from outside the safeguard enclosure.

Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.

4) If any machine reference value displayed on the MPB is not in the range

between 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.

5) Place a sign indicating that the robot is being adjusted in order to keep others

from operating the controller or operation panel.

6) Turn off the controller and enter the safeguard enclosure.

7) Mark off the reference mark at the current origin position on the R-axis joint

area of the robot.
At this time, be careful to prevent the origin position from deviating since the
R-axis is touched.

8) Using a hex wrench, loosen the bolts (2 pieces) securing the dog on the R-

axis joint. (See Fig. 4-12.)

The bolt only needs to be loosened, and does not need to be completely
removed.

9) Move the dog in the following manner.

When machine reference < 40%: Move dog in A direction
When machine reference > 60%: Move dog in B direction
The movement guide is 0.8mm/100%.

10) Tighten the screw and fix the dog.