Yamaha YK180X, YK120X owner manual Sensor method X-axis, Y-axis, 5 Default origin position

CHAPTER 4 Adjustment

3-1-2-2 Sensor method (X-axis, Y-axis)

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. 4-5.) 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 X and Y-axes will move to the positions shown in Fig. 4-5 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. 4-5. If return-to-origin is performed with a load larger than this radius installed on the R-axis, the base and load could interfere. Since the X-axis arm first returns to the origin, the tool on the end might interfere with the robot base (pedestal) if the Y-axis arm is near its origin.

X-axis origin is at 0°±5° with respect to front of robot base

X-axis origin is at 0°±5° with respect to front of robot base

133

Plus side	Minus side
	133
	°±
	5
	°
	R19
	Maximum
	tolerable
	load radius *1
	Plus side
	Minus side
	YK180X

Plus side	Minus side	°±
		5
		°
	R17
	Maximum
	tolerable
	load radius *1
	Plus side

Minus side

YK220X

*1 When load is cylindrical object

Fig. 4-5 Default origin position

4-8