Yamaha YK120X, YK180X Setting the Soft Limits, Setting the X-axis and Y-axis soft limits

CHAPTER 4 Adjustment

4 Setting the Soft Limits

In the YK120X and YK180 series, the working envelope during manual and automatic operation can be limited by setting the plus soft limit [pulses] and minus soft limit [pulses] on each axis.

The origin point ( 0 [pulses] ) is used as the reference to set the soft limits. The working envelope can be limited by specifying the number of pulses from the 0 pulse position. Refer to the "YAMAHA robot controller owner's manual" for further details. Also refer to "1-2 External view and dimensions" in Chapter 7 for the working envelope area.

When performing actual checks of the soft limit settings, operate the robot manually from outside the safeguard enclosure.

(1)Setting the X-axis and Y-axis soft limits

Set the soft limit on the inner side of the movement range limited by the mechanical stopper or on the inner side of the position that interferes with the peripheral devices (note that this must within the maximum working enve- lope). Set the soft limit with the following procedures.

1)Check that no one is inside the safeguard enclosure, and then turn on the controller.

2)Press the emergency stop button on the MPB to set emergency stop.

Refer to the "YAMAHA robot controller owner's manual" for further details on emergency stop and canceling emergency stop.

3)Place a sign indicating the robot is being adjusted, to keep others from oper- ating the controller or operation panel.

4)Enter the safeguard enclosure while holding the MPB.

5)Move the X-axis and Y-axis arms by hand to the mechanical stopper posi- tions or to the point where interference with the peripheral equipment oc- curs, and note the X-axis and Y-axis plus (+) and minus (-) direction pulses displayed on the MPB.

6)Check that no one is inside the safeguard enclosure, then cancel emergency stop from outside the safeguard enclosure.

4-39