Yamaha Robotics YK120X 사용자 설명서

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If any machine reference is adjusted, the origin position may change.
Before the adjustment, mark off the reference mark at the current origin posi-
tion on the main body of the robot.
After the machine reference is adjusted, be sure to check that the origin posi-
tion has not deviated.
If the origin position changes after the machine reference has been adjusted,
then the standard coordinate and point data must be reset.

When the arm moves at high speed and strikes against a mechanical stopper
violently, the machine reference value may change. If this has happened, check
the machine reference value. Also check the mechanical stopper for any dam-
age and the origin position for shift. If the machine reference value is outside
the recommended range, adjust the machine reference. In this case, re-teach-
ing may be required if the origin position has shifted.