CHAPTER 4 Adjustment

5 Setting the Standard Coordinates

!CAUTION

If the standard coordinate settings are incorrect, the acceleration cannot be optimized to match the arm position. This results in too short a service life, damage to the drive unit, or residual vibration during positioning. In addition, the cartesian coordinate accuracy will be impaired.

Setting the standard coordinates enables the following operations and functions.

1.Optimizes acceleration according to arm position during automatic op eration.

2.Allows moving robot arm tip at right angles.

3.Allows using shift coordinates.

4.Enables commands such as linear interpolation and arm switching.

The procedure for setting standard coordinates and cautions are shown below.

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

2)Check that the soft limits are correctly set.

If not correctly set, adjust the soft limits while referring to the description of "4 Setting the Soft Limits" in Chapter 4.

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. Stay outside the robot movement range at this time.

5)Make the standard coordinate settings while referring to methods for "Set- ting the Standard Coordinates" as explained in the "YAMAHA robot control- ler owner's manual". Never enter within the robot movement range.

6)When the standard coordinate settings are complete, check the following points from outside the safeguard enclosure.

1.Check that the robot arm tip can move at right angles in MANUAL opera- tion (cartesian coordinates).

2.Check that the values nearly equal to the X-axis and Y-axis arm lengths are entered in "Arm length" of the axis parameters.

If the above points are not satisfied, the standard coordinate settings are in- correct, so make the standard coordinate settings again.

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Yamaha YK180X, YK120X owner manual Setting the Standard Coordinates
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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.

The YK180X stands out with its 88 weighted keys that emulate the feel of an acoustic piano. This feature is particularly beneficial for pianists who seek a realistic playing experience. In contrast, the YK120X offers 61 semi-weighted keys, making it more portable while still providing a satisfying touch that balances playability and responsiveness. Both models incorporate Yamaha's renowned Graded Hammer Standard action, ensuring that the playing experience aligns with traditional piano dynamics.

One of the key technological advancements in both models is the integrated Pure CF Sound Engine. This technology captures the nuances of Yamaha's acclaimed concert grand pianos, delivering rich and authentic sound across a wide range of musical styles. Additionally, the synthesis engines in these synths allow for an expansive palette of sounds, from lush strings and bold brass to rich synthetic tones, enabling musicians to explore various genres effortlessly.

Another impressive feature of the YK180X and YK120X is the extensive library of built-in voices and styles. The YK180X boasts over 600 voices and 200 styles, while the YK120X comes with a diverse selection of over 400 voices and 150 styles, providing users with an array of options to enhance their performance. Both models also include a user-friendly interface with intuitive navigation, allowing for quick access to features and customization.

Connectivity is a critical aspect, and both synthesizers include USB to Host ports for easy integration with computers and mobile devices. With MIDI in and out options, musicians can connect to other musical gear, making these models versatile companions for stage performances and studio recordings alike.

In terms of additional features, the YK180X and YK120X come equipped with a built-in metronome and transpose functions, essential tools for practicing and performing. Moreover, the onboard recording capabilities allow musicians to capture their ideas and compositions quickly and efficiently.

Overall, the Yamaha YK180X and YK120X are powerful and versatile synthesizers that cater to a wide range of musical needs, from home practice to professional settings. With their superior sound quality, realistic playability, and innovative features, they represent an excellent choice for musicians looking to elevate their musical journey.
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