Yamaha YK180X Machine reference value = B/A ⋅ 100%, Machine reference display on MPB screen

CHAPTER 4 Adjustment

3-2 Machine reference

The YK-X Series position detector uses a resolver having one position that can perform absolute reset in respect to one motor rotation.

When absolute reset is performed with the sensor method or stroke end method, the origin position will be set to a position where it can be reset immediately after the origin sensor reacts to the dog (where the origin signal is detected) or the stroke end (mechanical stopper) is detected.

The machine reference means the position relationship between the position where the robot detects the origin signal and the position where the absolute reset can be performed soon after the origin signal detection. (See Fig. 4-6.) The machine reference is expressed in the ratio of interval A to interval B shown in Fig. 4-6. Interval A is the minimum distance between the positions where absolute reset can be performed and interval B is the distance between the position where the origin signal is detected and the position where absolute reset can be performed soon after the origin signal detection.

The machine reference value is displayed on the optional MPB screen. (Unit: %)

Machine reference value = B/A ⋅ 100(%)

!CAUTION

It is necessary for the machine reference to be adjusted in a specified range in order to keep the repeatability precision of the absolute reset position. (Factory- adjusted at shipment.)

Refer to "Chapter 4, 3-4 Adjusting the machine reference" for the machine ref- erence adjustment method .

Recommended machine reference value: 40 to 60% (26 to 74% only for Z-axis)

Machine reference

Origin signal detection

ON

Origin signal

Resolver

A

Positions where absolute reset can be performed

OFF

B

One motor revolution

Machine reference display on MPB screen

MPB

MANUAL

>RST. ABS

50% [MG] [S0H0J]

Machine reference (%)

M1=

50

M2=

56

M3=

52

M4=

66

M1

M2

M3

M4

M5

R-axis

X-axis

Y-axis

Z-axis

Fig. 4-6

4-10