Yamaha Robotics YK120X Manual Do Utilizador

4-41

(2) Setting the Z-axis soft limits

Make this setting from outside the safeguard enclosure.
The Z-axis has mechanical stoppers fixed at the upper and lower ends of the
Z-axis movement range. When the actual working range of the robot is smaller
than the maximum working envelope or the manipulator interferes with the
peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow
the working envelope.

(3) Setting the R-axis soft limit

To make this setting, set emergency stop just as for the X-axis and Y-axis, or
be sure to do this from outside the safeguard enclosure. The R-axis has no
mechanical stoppers. When the actual working range of the R-axis is small or
it interferes with the peripheral equipment, reduce the R axis plus (+) soft
limit [pulse] and minus (-) soft limit [pulses] to narrow the working enve-
lope.

Overloads may occur if the soft limit is almost near the encoder pulse at the
mechanical stopper and the operating point is used at the edge of the move-
ment range. Set the soft limit to the inner side of the mechanical stopper with an
ample safety margin.

(4) Relation between the X, Y and R-axis movement angle, the Z-axis

movement distance and the number of pulses
The resolver pulse for X, Y- and R-axes movement angle and the for the Z-
axis movement length are shown below. Use these figures as a guide to set
the soft limits.

Axis

Z

Number of resolver pulses per 12 mm movement of one lead

4096

Axis

X, Y

R

YK120X, YK150X

Number of resolver pulses per turn (360 degrees)

204800

122880

Axis

Z

Number of resolver pulses per 12 mm movement of one lead

16384

Axis

X, Y

R

YK180X, YK220X

Number of resolver pulses per turn (360 degrees)

819200

491520