CHAPTER 4 Adjustment
3 Adjusting the origin
All models of the YK120X series and YK180X series robots use an absolute type position detector.
The origin position (zero pulse point) can be determined by absolute reset. Once absolute reset is performed, you do not have to repeat absolute reset when turning the power on next time.
However, absolute reset is required if any of the following cases occur. The robot is shipped from the factory in condition "c" (below), so please perform absolute reset after installing the robot. For more details on absolute reset, refer to "Absolute Reset" in Chapter 4 of the "YAMAHA robot controller owner's manual".
a.
b.Power drop was detected in the absolute battery for the driver installed inside the robot controller.
c.Cable connecting the robot unit to the controller was disconnected. (This is the status when shipped from the factory.)
d.Robot generation was changed.
e.Parameters were initialized.
f.Axis parameters "Origin shift", "Origin method", "Origin direction" or "Motor direction" were changed.
g.Motor was replaced. (Motor wiring connector was removed.)
h.Data in the ALL data file (extension: ALL) or parameter file (extension: PRM) was written into the controller by way of the
The following sections explain how to perform absolute reset.
!CAUTION
If any of the above cases occur after installing the robot, absolute reset must be performed again. The robot must be moved to the origin position to perform absolute reset. Select a robot position where the origin position will not interfere with peripheral devices after setup is completed.
!CAUTION
After performing absolute reset, move the robot to a known point to check whether the origin position is correctly set. When doing this check, move the robot at the slowest possible speed.
The YK120X series and YK180X series absolute methods include the sensor method and stroke end method.
The YK120X series uses the stroke end method for the
The YK180X series uses the stroke end method for the
