Yamaha YK180X Absolute reset method 3-1-1 YK120X series YK120X, YK150X, Sensor method R-axis

CHAPTER 4 Adjustment

3-1 Absolute reset method

3-1-1 YK120X series (YK120X, YK150X)

3-1-1-1 Sensor method (R-axis)

In the sensor method, the target axis is automatically operated for the absolute reset, and the absolute reset is performed at the position where the proximity sensor provided on the target axis detects the detection area (dog).

The absolute reset in the sensor method can be executed with the teaching pen- dant (MPB), RS-232C communication, and dedicated input.

WARNING

Serious injury might occur from physical contact with the robot during opera- tion.

Never enter within the robot movement range during absolute reset.

!CAUTION

The origin cannot be detected in any axis which is not positioned on the plus side from the origin (See Fig. 4-1.) before starting the return-to-origin opera- tion. (Factory setting at shipment.)

In this case, press the STOP key to interrupt the return-to-origin operation, move the target axis to the plus side of the origin, and reperform the origin return operation.

If the return-to-origin operation is not stopped, the robot will continue moving and could collide with the peripheral devices. The R-axis does not have a me- chanical stopper, so the wiring and piping installed on the end effector could become entangled.

		R-axis dog
	Plus side
Plus side	R-axis Sensor	R-axis
R-axis Sensor
	R-axis

Minus side

Minus side

YK120X, YK150X YK120XC, YK150XC

Fig. 4-1 View of R-axis from below

4-3