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.Absolute-related error occurred on the axis.

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 RS-232C.

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 X-axis, Y-axis and Z-axis, and the sensor method for the R-axis.

The YK180X series uses the stroke end method for the Z-axis, and the sensor method for the X-axis, Y-axis and R-axis.

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Yamaha YK180X, YK120X owner manual Adjusting the origin

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.