Yamaha Robotics YK120X Manual Do Utilizador

CHAPTER

Adjustment

1 Overview ..................................................................................................4-1

2 Safety Precautions ..................................................................................4-1

3 Adjusting the origin ..................................................................................4-2

3-1

Absolute reset method ......................................................................................... 4-3

3-1-1

YK120X series (YK120X, YK150X) ........................................................................ 4-3

3-1-1-1

Sensor method (R-axis) ........................................................................................ 4-3

3-1-1-2

Stroke end method (X-axis, Y-axis) ...................................................................... 4-4

3-1-1-3

Stroke end method (Z-axis) .................................................................................. 4-6

3-1-2

YK180X series (YK180X, YK220X) ........................................................................ 4-7

3-1-2-1

Sensor method (R-axis) ........................................................................................ 4-7

3-1-2-2

Sensor method (X-axis, Y-axis) ............................................................................ 4-8

3-1-2-3

Stroke end method (Z-axis) .................................................................................. 4-9

3-2

Machine reference.............................................................................................. 4-10

3-3

Absolute reset procedures .................................................................................. 4-11

3-3-1

Sensor method (R-axis) ....................................................................................... 4-11

3-3-2

Stroke end method (X and Y axes of YK120X, YK150X) ..................................... 4-13

3-3-3

Stroke end method (Z-axis) .................................................................................. 4-15

3-3-4

Sensor method (X and Y axes of YK180X, YK220X) ........................................... 4-16

3-4

Adjusting the machine reference ........................................................................ 4-18

3-4-1

YK120X series (YK120X, YK150X) ...................................................................... 4-19

3-4-1-1

Adjusting the R-axis machine reference (YK120X, YK150X) ............................. 4-19

3-4-1-2

Adjusting the R-axis machine reference (YK120XC, YK150XC) ........................ 4-21

3-4-1-3

Adjusting the X-axis machine reference ............................................................. 4-23

3-4-1-4

Adjusting the Y-axis machine reference .............................................................. 4-25

3-4-1-5

Adjusting the Z-axis machine reference ............................................................. 4-27

3-4-2

YK180X series (YK180X, YK220X) ...................................................................... 4-30

3-4-2-1

Adjusting the R-axis machine reference (YK180X, YK220X) ............................. 4-30

3-4-2-2

Adjusting the X-axis machine reference ............................................................. 4-32

3-4-2-3

Adjusting the Y-axis machine reference .............................................................. 4-34

3-4-2-4

Adjusting the Z-axis machine reference ............................................................. 4-36

4 Setting the Soft Limits ............................................................................4-39

5 Setting the Standard Coordinates .........................................................4-42

6 Affixing Stickers for Movement Directions and Axis Names ..................4-43

7 Removing the Robot Covers .................................................................4-45