Yamaha YK180X, YK120X owner manual Adjustment

5	User Wiring and User Tubing			3-13
6	Connecting a suction hose (YK120XC, YK150XC)			3-16
7	Attaching The End Effector			3-17
	7-1 R-axis tolerable moment of inertia and acceleration coefficient			3-17
		7-1-1	Acceleration coefficient vs. moment of inertia (YK120X)	3-19
		7-1-2	Acceleration coefficient vs. moment of inertia (YK150X)	3-21
		7-1-3	Acceleration coefficient vs. moment of inertia (YK180X, YK220X)	3-23
	7-2	Equation for moment of inertia calculation		3-24
	7-3	Example of moment of inertia calculation		3-27
	7-4	Attaching the end effector		3-29
	7-5	Gripping force of end effector		3-32
8	Working Envelope and Mechanical Stopper Positions for Maximum
	Working Envelope			3-33

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