Yamaha YK120X, YK180X owner manual Adjustment, Chapter

CHAPTER 4

Adjustment

1	Overview			4-1
2	Safety Precautions		..................................................................................	4-1
3	Adjusting the origin		..................................................................................	4-2
	3-1	Absolute reset method		4-3
		3-1-1 YK120X series (YK120X, YK150X)		4-3
		3-1-1-1	Sensor method (R-axis)	4-3
		3-1-1-2 Stroke end method (X-axis, Y-axis)		4-4
		3-1-1-3 Stroke end method (Z-axis)		4-6
		3-1-2 YK180X series (YK180X, YK220X)		4-7
		3-1-2-1	Sensor method (R-axis)	4-7
		3-1-2-2 Sensor method (X-axis, Y-axis)		4-8
		3-1-2-3 Stroke end method (Z-axis)		4-9
	3-2	Machine reference		4-10
	3-3	Absolute reset procedures		4-11
		3-3-1 Sensor method (R-axis)		4-11
		3-3-2 Stroke end method (X and Y axes of YK120X, YK150X)		4-13
		3-3-3 Stroke end method (Z-axis)		4-15
		3-3-4 Sensor method (X and Y axes of YK180X, YK220X)		4-16
	3-4 Adjusting the machine reference			4-18
		3-4-1 YK120X series (YK120X, YK150X)		4-19
		3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X)		4-19
		3-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC)		4-21
		3-4-1-3 Adjusting the X-axis machine reference		4-23
		3-4-1-4 Adjusting the Y-axis machine reference		4-25
		3-4-1-5 Adjusting the Z-axis machine reference		4-27
		3-4-2 YK180X series (YK180X, YK220X)		4-30
		3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X)		4-30
		3-4-2-2 Adjusting the X-axis machine reference		4-32
		3-4-2-3 Adjusting the Y-axis machine reference		4-34
		3-4-2-4 Adjusting the Z-axis machine reference		4-36
4	Setting the Soft Limits			4-39
5	Setting the Standard Coordinates			4-42
6	Affixing Stickers for Movement Directions and Axis Names			4-43
7	Removing the Robot Covers			4-45