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CHAPTER 4 Adjustment
4 Setting the Soft Limits
In the YK120X and YK180 series, the working envelope during manual and
automatic operation can be limited by setting the plus soft limit [pulses] and
minus soft limit [pulses] on each axis.
The origin point ( 0 [pulses] ) is used as the reference to set the soft limits. The
working envelope can be limited by specifying the number of pulses from the 0
pulse position. Refer to the "YAMAHA robot controller owner's manual" for
further details. Also refer to "1-2 External view and dimensions" in Chapter 7 for
the working envelope area.
When performing actual checks of the soft limit settings, operate the robot
manually from outside the safeguard enclosure.
(1) Setting the X-axis and Y-axis soft limits
Set the soft limit on the inner side of the movement range limited by the
mechanical stopper or on the inner side of the position that interferes with the
peripheral devices (note that this must within the maximum working enve-
lope). Set the soft limit with the following procedures.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Press the emergency stop button on the MPB to set emergency stop.
Refer to the "YAMAHA robot controller owner's manual" for further details
on emergency stop and canceling emergency stop.
3) Place a sign indicating the robot is being adjusted, to keep others from oper-
ating the controller or operation panel.
4) Enter the safeguard enclosure while holding the MPB.
5) Move the X-axis and Y-axis arms by hand to the mechanical stopper posi-
tions or to the point where interference with the peripheral equipment oc-
curs, and note the X-axis and Y-axis plus (+) and minus (-) direction pulses
displayed on the MPB.
6) Check that no one is inside the safeguard enclosure, then cancel emergency
stop from outside the safeguard enclosure.