Yamaha YK180X, YK120X owner manual Stroke end method X-axis, Y-axis

CHAPTER 4 Adjustment

3-1-1-2 Stroke end method (X-axis, Y-axis)

With the stroke end method, the X and Y-axes are pushed against the mechanical stopper, and after the axis end is detected, absolute reset is performed from a position slightly back from the axis end.

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

Before starting return-to-origin operation, move the X-axis to a position on the plus side from the origin position (See Fig. 4-2), and the Y-axis to a position on the minus side, so that the robot is positioned in a right-handed system as shown in Fig. 4-2.

When the return-to-origin operation starts, the X-axis will move to the minus side and the Y-axis will move to the plus side. After pushing against the me- chanical stopper, the axes will return slightly, and the return-to-origin will be completed.

The X and Y-axes will move to the positions shown in Fig. 4-3 during return-to- origin, so make sure that the tool on the end, the robot and the peripheral devices do not interfere. The maximum tolerable load radius (when load is cy- lindrical object) is shown in Fig. 4-3. If return-to-origin is performed with a load larger than this radius installed on the R-axis, the base and load could interfere.

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