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CHAPTER 4
Adjustment
1 Overview ..................................................................................................4-1
2 Safety Precautions ..................................................................................4-1
3 Adjusting the origin ..................................................................................4-2
3-1 Absolute reset method ......................................................................................... 4-3
3-1-1 YK120X series (YK120X, YK150X)........................................................................ 4-3
3-1-1-1 Sensor method (R-axis) ........................................................................................4-3
3-1-1-2 Stroke end method (X-axis, Y-axis) ...................................................................... 4-4
3-1-1-3 Stroke end method (Z-axis) .................................................................................. 4-6
3-1-2 YK180X series (YK180X, YK220X)........................................................................ 4-7
3-1-2-1 Sensor method (R-axis) ........................................................................................4-7
3-1-2-2 Sensor method (X-axis, Y-axis) ............................................................................ 4-8
3-1-2-3 Stroke end method (Z-axis) .................................................................................. 4-9
3-2 Machine reference.............................................................................................. 4-10
3-3 Absolute reset procedures ..................................................................................4-11
3-3-1 Sensor method (R-axis) ....................................................................................... 4-11
3-3-2 Stroke end method (X and Y axes of YK120X, YK150X) .....................................4-13
3-3-3 Stroke end method (Z-axis)..................................................................................4-15
3-3-4 Sensor method (X and Y axes of YK180X, YK220X) ...........................................4-16
3-4 Adjusting the machine reference ........................................................................ 4-18
3-4-1 YK120X series (YK120X, YK150X)...................................................................... 4-19
3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X) ............................. 4-19
3-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC) ........................ 4-21
3-4-1-3 Adjusting the X-axis machine reference ............................................................. 4-23
3-4-1-4 Adjusting the Y-axis machine reference ..............................................................4-25
3-4-1-5 Adjusting the Z-axis machine reference ............................................................. 4-27
3-4-2 YK180X series (YK180X, YK220X)...................................................................... 4-30
3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X) ............................. 4-30
3-4-2-2 Adjusting the X-axis machine reference ............................................................. 4-32
3-4-2-3 Adjusting the Y-axis machine reference ..............................................................4-34
3-4-2-4 Adjusting the Z-axis machine reference ............................................................. 4-36
4 Setting the Soft Limits ............................................................................4-39
5 Setting the Standard Coordinates .........................................................4-42
6Affixing Stickers for Movement Directions and Axis Names ..................4-43
7 Removing the Robot Covers .................................................................4-45