Yamaha Robotics YK120X Manual Do Utilizador

4-4

With the stroke end method, the X and Y-axes are pushed against the mechanical
stopper, and after the axis end is detected, absolute reset is performed from a
position slightly back from the axis end.

Serious injury might occur from physical contact with the robot during opera-
tion.
Never enter within the robot movement range during absolute reset.

Before starting return-to-origin operation, move the X-axis to a position on the
plus side from the origin position (See Fig. 4-2), and the Y-axis to a position on
the minus side, so that the robot is positioned in a right-handed system as
shown in Fig. 4-2.
When the return-to-origin operation starts, the X-axis will move to the minus
side and the Y-axis will move to the plus side. After pushing against the me-
chanical stopper, the axes will return slightly, and the return-to-origin will be
completed.
The X and Y-axes will move to the positions shown in Fig. 4-3 during return-to-
origin, so make sure that the tool on the end, the robot and the peripheral
devices do not interfere. The maximum tolerable load radius (when load is cy-
lindrical object) is shown in Fig. 4-3. If return-to-origin is performed with a load
larger than this radius installed on the R-axis, the base and load could interfere.