Yamaha YK120X, YK180X owner manual Make this setting from outside the safeguard enclosure

CHAPTER 4 Adjustment

(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.

!CAUTION

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.

YK120X, YK150X

Axis	Number of resolver pulses per turn (360 degrees)
X, Y	204800
R	122880
Axis	Number of resolver pulses per 12 mm movement of one lead
Z	4096
YK180X, YK220X
Axis	Number of resolver pulses per turn (360 degrees)
X, Y	819200
R	491520
Axis	Number of resolver pulses per 12 mm movement of one lead
Z	16384

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