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4-2
CHAPTER 4 Adjustment
3 Adjusting the origin
All models of the YK120X series and YK180X series robots use an absolute type
position detector.
The origin position (zero pulse point) can be determined by absolute reset. Once
absolute reset is performed, you do not have to repeat absolute reset when turning
the power on next time.
However, absolute reset is required if any of the following cases occur. The robot
is shipped from the factory in condition "c" (below), so please perform absolute
reset after installing the robot. For more details on absolute reset, refer to "Absolute
Reset" in Chapter 4 of the "YAMAHA robot controller owner's manual".
a. Absolute-related error occurred on the axis.
b. Power drop was detected in the absolute battery for the driver installed
inside the robot controller.
c. Cable connecting the robot unit to the controller was disconnected.
(This is the status when shipped from the factory.)
d. Robot generation was changed.
e. Parameters were initialized.
f. Axis parameters "Origin shift", "Origin method", "Origin direction" or
"Motor direction" were changed.
g. Motor was replaced. (Motor wiring connector was removed.)
h. Data in the ALL data file (extension: ALL) or parameter file (extension:
PRM) was written into the controller by way of the RS-232C.
The following sections explain how to perform absolute reset.
!
CAUTION
If any of the above cases occur after installing the robot, absolute reset must be
performed again. The robot must be moved to the origin position to perform
absolute reset. Select a robot position where the origin position will not interfere
with peripheral devices after setup is completed.
!
CAUTION
After performing absolute reset, move the robot to a known point to check
whether the origin position is correctly set. When doing this check, move the
robot at the slowest possible speed.
The YK120X series and YK180X series absolute methods include the sensor
method and stroke end method.
The YK120X series uses the stroke end method for the X-axis, Y-axis and Z-axis,
and the sensor method for the R-axis.
The YK180X series uses the stroke end method for the Z-axis, and the sensor
method for the X-axis, Y-axis and R-axis.