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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Yamaha YK120X, YK180X owner manual Setting the Z-axis soft limits

YK120X, YK180X specifications

The Yamaha YK180X and YK120X are two of the latest offerings from Yamaha in the sphere of high-performance synthesizers, designed to cater to both novice and professional musicians. These models are part of Yamaha's commitment to innovation, combining advanced technologies with user-friendly interfaces to create instruments that inspire creativity.

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