CHAPTER 1 Using the Robot Safely

4 Robot Safety Functions

(1) Overload detection

This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures.

1.Insert a timer in the program.

2.Reduce the acceleration coefficient.

(2)Overheat detection

This function detects an abnormal temperature rise in the driver inside the controller and shuts off the servo power. If an overheat error occurs, take the following measures.

1.Insert a timer in the program.

2.Reduce the acceleration coefficient.

(3)Soft limits

Soft limits can be set on each axis to limit the working envelope in manual operation after return-to-origin and during automatic operation.

Note: The working envelope is the area limited by soft limits.

(4) Mechanical stoppers

If the servo power is suddenly shut off during high-speed operation by emer- gency stop or safety functions, these mechanical stoppers prevent the axis from exceeding the movement range.

On the X-axis, Y-axis arm, mechanical stoppers are fixed at both ends of the maximum movement range.

The Z-axis has a mechanical stopper at the upper end and lower end. No mechanical stopper is provided on the R-axis.

Note: The movement range is the area limited by mechanical stoppers.

WARNING

Axis movement will not stop immediately after the servo power supply is shut off by emergency stop or other safety functions.

(5) Z-axis (vertical axis) brake

An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from sliding down when servo power is turned off. This brake is working when the controller is off or the Z-axis servo power is off even when the controller is on. The Z-axis brake can be released by means of the pro- gramming unit or by a command in the program when the controller is on.

WARNING

The Z-axis will slide down when the Z-axis brake is released, creating a haz- ardous situation.

•Press the emergency stop button and prop the Z-axis with a support stand before releasing the brake.

•Use caution not to let your body get caught between the Z-axis and installa- tion base when releasing the brake to perform direct teach.

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Yamaha YK120X, YK180X owner manual Robot Safety Functions
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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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